JP6977917B2 - Pipe cleaning robot - Google Patents

Description

The present invention relates to a robot for cleaning the inside of a pipe, and particularly to a robot suitable for moving and cleaning the inside of a large-diameter sewer pipe.

Sludge carried by the flow of sewage accumulates in the sewage pipe buried in the ground, but if the amount of this sludge accumulated increases, the flow function of the sewage pipe is impaired. Therefore, it is necessary to periodically clean the inside of the sewer pipe to remove sludge and the like that have accumulated. In addition, if the sewer pipe is cracked or the connection part is misaligned, it is necessary to repair the sewer pipe. To investigate such deterioration of the sewer pipe, sewage is used prior to this investigation. The inside of the pipe must be cleaned.

For cleaning the inside of the sewer pipe, in the case of a large-diameter sewer pipe that workers can enter, place a high-pressure washer and a suction car on the road surface near the opening of the manhole, and the worker enters the sewer pipe. Clean the inside of the sewer pipe by operating the high pressure hose extending from the high pressure washer and the suction hose extending from the suction wheel. Specifically, high-pressure water is sprayed from a high-pressure hose operated by a worker onto the accumulated sludge to cut down the sludge, and the cut-down sludge is sucked by a suction hose operated by the worker.

However, cleaning work by a worker in a sewage pipe involves a risk of oxygen deficiency, generation of toxic gas such as hydrogen sulfide, or falling or falling. Therefore, for example, in a pipe as described in Patent Document 1. It is conceivable to place a cleaning robot in the sewer pipe to perform cleaning work. By using such an in-pipe cleaning robot, it is possible to remove sludge and the like accumulated in the sewer pipe by injecting high-pressure water toward a place to be cleaned in the sewer pipe with a high-pressure injection nozzle.

Japanese Unexamined Patent Publication No. 2014-1145653

By the way, the pipe cleaning robot described in Patent Document 1 is provided with only one high-pressure injection nozzle, but since the high-pressure injection nozzle can be rotated to freely set the direction in which the nozzle faces, any sewage pipe can be used. It is possible to clean by spraying high-pressure water at the position of. However, depending on the sedimentation situation, it may not be possible to efficiently cut the sludge even if high-pressure water is sprayed on the sludge from one direction. Moreover, the cleaning robot of Patent Document 1 does not have a structure in which sludge and the like cut down by a high-pressure injection nozzle can be sucked immediately or at the same time as the cutting down, so that the cleaning work efficiency is not good from this point as well.

Therefore, an object of the present invention is to provide a pipe cleaning robot having excellent cleaning efficiency.

The in-pipe cleaning robot of the present invention for achieving this object is an in-pipe cleaning robot that travels and cleans the inside of a pipe such as a large-diameter sewage pipe, and is arranged on both sides of the support substrate and the width direction of the support substrate. It has a pair of traveling means, a flexible hose body, and a mouth member provided at the tip of the hose body, and is arranged so as to pass under the support substrate between the pair of traveling means. The hose and the pair of high-pressure injection nozzles provided on both sides of the support substrate in the width direction so that the injection port for injecting the high-pressure fluid faces forward, and at least the front can be photographed and swung. The hose is equipped with a camera attached to the support substrate so that the shooting direction can be changed, and the high-pressure injection nozzles can independently swing or rotate to change the direction in which the injection port portion faces. It is configured in. Here, high-pressure fluids from a pair of high-pressure injection nozzles can be simultaneously concentrated or separately sprayed onto specific locations of deposits such as sludge. In this case, the degree of approach or separation of the high-pressure fluid spraying points can be adjusted in various ways. Alternatively, high pressure fluid can be sprayed onto sediments such as sludge from different directions simultaneously or separately. Therefore, it is possible to efficiently cut the sediment, and it is also possible to suck the sediment with a hose following the cutting or at the same time as the cutting. Since the image in the pipe from the camera is displayed on a display arranged on the ground, for example, the operator can control the operation of the high-pressure injection nozzle while checking the image on this display. The pair of high pressure injection nozzles can be configured to inject high pressure fluids separately but at the same time as needed. Alternatively, it can be configured to inject high pressure fluids only separately.

Each of the high-pressure injection nozzles can be attached to, for example, a horizontally rotatable mounting support portion provided on the support substrate so as to swing in the vertical direction.

When a vertical movement cylinder is placed between the hose mouth member and the support base and the vertical movement cylinder is operated to lower the mouth member, the hose body portion on the rear side of this mouth member is slanted forward. It can be configured to tilt downwards. Here, when the pipe cleaning robot is moved forward, for example, the vertical movement cylinder is operated to lift the mouth member from the bottom surface of the pipe. When sucking sludge, etc., the vertical movement cylinder is operated to lower the mouth member so that, for example, the lower surface contacts the inner bottom surface of the pipe, but the hose body on the rear side of the mouth member is diagonally downward toward the front. Since it is inclined to the side, the lower surface of the opening of the mouth member can be reliably brought into contact with the inner bottom surface of the pipe.

It is preferable that the soil removal plate can be provided in place of the hose or together with the hose. It is particularly effective when the adhesion strength or adhesion amount of the deposit is large. The pipe cleaning robot here is a pipe cleaning robot that travels and cleans the inside of a pipe such as a large-diameter sewage pipe, and includes a support substrate, a pair of traveling means arranged on both sides of the support substrate in the width direction, and a pair of traveling means. A pair of high-pressure injection nozzles provided on both sides in the width direction of the support substrate so that the injection port portion for injecting high-pressure fluid faces forward, and at least the front can be photographed and the imaging direction is changed by swinging. A camera attached to the support substrate and a soil removal plate provided on the front side of the support substrate are provided so as to be possible, and the high-pressure injection nozzles are independent for changing the direction of the injection port portion. It is configured to be able to swing or rotate. It has a flexible hose body, a mouth member provided at the tip of the hose body, and further comprises a hose arranged between a pair of traveling means so as to pass under the support substrate. be able to.

It is also a good idea to use a dammed plate that can swing instead of the hose and high-pressure injection nozzle, and to clean the inside of the pipe using the running water blocked by the dammed plate when the amount of flowing water is relatively large. .. Sediments may be removed by opening the dammed plate and discharging water at once, but a water ejector and a ejection hole are provided in the dammed plate to increase the pressure of the stored water and eject it from the ejecting hole. You may do so. The pipe cleaning robot here is a pipe cleaning robot that travels and cleans the inside of a pipe such as a large-diameter drainage pipe, and includes a support substrate, a pair of traveling means arranged on both sides of the support substrate in the width direction, and a pair of traveling means. It is provided with a camera attached to the support substrate so that at least the front can be photographed and the imaging direction can be changed by swinging, and a dam plate provided on the front side of the support. Become.

By using the pipe cleaning robot of the present invention, it is possible to safely and efficiently clean the inside of a pipe such as a large-diameter drainage pipe.

It is a front view when the 1st pipe cleaning robot which concerns on this invention is arranged in the sewer pipe of a large diameter. It is a side view when the 1st pipe cleaning robot is arranged in the sewer pipe of a large diameter. It is a top view which shows the main part when the 1st pipe cleaning robot is arranged in the sewer pipe of a large diameter. It is a detailed view of the bracket part for a lifting link of a mounting plate. It is the plan view and the front view enlarged view of the high pressure injection nozzle device part. It is a figure which shows the injection part from each high pressure injection nozzle to sludge and the like. It is another figure which shows the injection part from each high pressure injection nozzle to sludge and the like. It is a figure explaining the state of the tip side of the cleaning hose when a pipe cleaning robot travels. It is a front view when the 2nd pipe cleaning robot which concerns on this invention is arranged in the sewer pipe of a large diameter. It is a side view when the 2nd pipe cleaning robot is arranged in the sewer pipe of a large diameter. It is a detailed view of the bracket part for a swing link of a mounting plate. It is a figure which shows the state which raised the soil removal plate. It is a front view when the 3rd pipe cleaning robot which concerns on this invention is arranged in the sewer pipe of a large diameter. It is a side view when the 3rd pipe cleaning robot is arranged in the sewer pipe of a large diameter. It is a figure which shows the state which dammed and stored sewage with a dammed plate. It is a figure which shows the state which discharged the stored sewage. It is a figure which shows the modification example of the 3rd pipe cleaning robot.

First, refer to FIG. 1 which is a front view, FIG. 2 which is a side view, and FIG. 3 which is a plan view showing a main part when the first pipe cleaning robot according to the present invention is arranged in a sewer pipe having a large diameter. The configuration of the first pipe cleaning robot will be described.

The first pipe cleaning robot 1 has a configuration for cleaning the inside of a large-diameter sewage pipe 3 having a pipe diameter of 800 mm to 2000 mm (for example, it can be used for a sewage pipe of 10000 mm, and is a box type having a square cross section. It can also be arranged in a sewer pipe), a support base 5, a pair of traveling means 7 provided on both sides (left and right sides) of the support base 5 in the width direction, a flexible cleaning hose body 9 and the like. Cleaning hose 13 A cleaning hose (suction hose) 13 having a mouth member (suction port member) 11 provided at the tip of the main body 9 and having the mouth member 11 connected to the lower side of the support base 5. And a pair of high-pressure injection nozzle devices 17 having an injection port portion 15 for injecting high-pressure water and attached to both sides in the width direction of the support base 5, and the support base 5 so as to swing and change the photographing direction. A front viewing camera 19 attached, a control device BOX 21 mounted and fixed on a support base 5, a rear infrared camera 23 attached to the control device BOX 21, a signal line for transmitting and receiving signals, and a pipe cleaning robot. A cable 25 having a power supply line for supplying power to 1 and a nozzle hose 27 for supplying high-pressure water to the high-pressure injection nozzle device 17 are provided. Each of the traveling means 7 has four wheels 29 and is rotationally driven in the traveling direction by a motor (not shown). Reference numeral 31 in the figure is a front illumination light. Further, the traveling means 7 and other members are disassembled from the support substrate 5, the first pipe cleaning robot 1 is carried into the sewage pipe 3 from the manhole opening having a diameter of 600 mm, and then the first pipe cleaning robot 1 is used. It is configured so that it can be assembled in the sewer pipe 3. Alternatively, the first pipe cleaning robot 1 is configured to be disassembled into a plurality of units, each unit is carried into the sewer pipe 3 from a manhole opening having a diameter of 600 mm, and then the first pipe cleaning robot 1 is used. It may be configured so that it can be assembled in the sewer pipe 3.

The cleaning hose body 9 is, for example, a connection between a hose body 33 extending from a suction wheel (not shown) arranged on a road surface near the opening of a manhole and a bifurcated branch attached to the tip of the hose body 33. A member 35 and two branch hose portions 37 connected to the branch portion of the connecting member 35 are provided, and the tip of the two branch hose portions 37 is connected to the rear end portion of the mouth member 11. .. The rear end portion of the mouth member 11 has a pair of annular connecting portions 39 and a case 41 that covers the outside of the annular connecting portion 39, and the intermediate portion of the mouth member 11 is the annular connecting portion 39 of each. A pair of annular intermediate portions 43 extending from the distal end toward the front are provided, and the distal end portion of the mouth member 11 is formed in an annular shape along the outer edge of the distal end of the pair of annular intermediate portions 43, and is formed by the reinforcing member 45. It constitutes a reinforced annular opening 47. The lower surface 49 of the annular opening 47 has the same or substantially the same radius of curvature as the radius of the inner surface of the sewage pipe 3. A pull plate portion 51 is provided on the upper portion of the annular opening 47, and a vertically moving cylinder bracket 53 is provided on the central back surface of the pull plate portion 51.

A mounting plate 55 is detachably fixed to the lower front portion of the support substrate 5. The mounting plate 55 has lifting link brackets 57 on both sides in the width direction, and has a vertically moving cylinder mounting portion 59 projecting forward at the center. A vertical movement cylinder 61 is connected between the tip of the vertical movement cylinder mounting portion 59 and the vertical movement cylinder bracket 53, and the tip portions of the lifting link bracket 57 are fixed to both sides of the case 41 of the mouth member 11 in the width direction. The rear ends of the pair of lift links 63 are rotatably connected (see FIG. 4). The lifting link 63 is bent upward on the rear side of the center in the length direction.

The high-pressure injection nozzle device 17 is attached to each of a pair of installation plates 65 that are detachably fixed to both side portions of the front portion of the support substrate 5. The high-pressure injection nozzle device 17 is fixed to the nozzle device main body 69 attached to the installation plate 65 by using the mounting member 67, and the nozzle device main body 69 is rotated or swung around the mounting member 67 position. The nozzle device main body 69 is provided with a horizontal cylinder 71, and the nozzle device main body 69 has an L-shaped plate 73 rotatably mounted on the mounting plate 65 about the position of the mounting member 67 using the mounting member 67, and the L-shaped plate 73. A high-pressure injection nozzle 75 attached to the tip so as to swing in the vertical direction, and a vertical direction attached to the L-shaped plate 73 and connected to the high-pressure injection nozzle 75 to swing the high-pressure injection nozzle 75 in the vertical direction. It has a cylinder 77 and (see FIG. 5). Due to the expansion and contraction operation of the horizontal cylinder 71, the high-pressure injection nozzle 75 is in a state where the injection port portion 15 faces forward in the pipeline direction (solid line state) and the injection port portion 15 is inside the width direction by a predetermined angle (here, 30 degrees). It can swing between the facing state (the state of the virtual line) (see the arrow in FIG. 5a). Further, due to the expansion / contraction operation of the vertical cylinder 77, the high-pressure injection nozzle 75 has the injection port portion 15 facing forward in the pipeline direction (solid line state) and the injection port portion 15 on the lower side by a predetermined angle (here, 50 degrees). It can swing between the state facing (the state of the virtual line) and the state (see the arrow in FIG. 5b). Although an electric cylinder is used for the horizontal cylinder 71 and the vertical cylinder 77, a hydraulic or pneumatic cylinder may be used.

Next, the cleaning operation of the pipe cleaning robot 1 will be described with reference to FIGS. 6 and 7.

The pipe cleaning robot 1 can be stopped in the sewage pipe 3 to perform cleaning work, or can perform cleaning work while moving forward at a low speed. In the cleaning work, the left and right high-pressure injection nozzle devices 17 are independently rotated or swung by a controller (not shown) while checking the situation inside the sewage pipe 3 projected by the front viewing camera 19 on the road surface. Will be done. For example, when sludge or the like A as shown in FIG. 6 is accumulated in the front of the sewage pipe 3, the high-pressure injection nozzle device 17 is operated to inject from the injection port 15 of one of the high-pressure injection nozzles 75. High-pressure water is sprayed onto B, and high-pressure water is sprayed from the ejection port portion 15 of the other high-pressure injection nozzle 75 to the ejection point C. Here, each high-pressure injection nozzle 75 rotates or swings symmetrically downward and inward in the width direction. Alternatively, when sludge or the like A as shown in FIG. 7 is accumulated in the front of the sewage pipe 3, the high-pressure injection nozzle device 17 is operated to inject from the injection port 15 of one of the high-pressure injection nozzles 75. High-pressure water is sprayed onto B, and high-pressure water is sprayed from the ejection port portion 15 of the other high-pressure injection nozzle 75 to the ejection point C. Here, one high-pressure injection nozzle 75 swings downward, and the other high-pressure injection nozzle 75 swings inward in the width direction at a maximum angle and also swings downward. Here, when high-pressure water is sprayed from one high-pressure injection nozzle 75, high-pressure water cannot be sprayed from the other high-pressure injection nozzle 75, but both high-pressure injection nozzles 75 simultaneously. It may be configured so that high-pressure water can be sprayed.

From the suction wheel to the cleaning hose 13 while injecting high-pressure water from the high-pressure injection nozzle 75 to cut down sludge and other deposits, or by injecting high-pressure water from the high-pressure injection nozzle 75 to cut down sludge and other deposits. A vacuum suction force is applied, and sludge or the like is sucked up by the mouth member 11 and transported to the ground. Here, the vertical movement cylinder 61 is extended, and the mouth member 11 is lowered. Since the portion near the tip of the branch hose portion 37 (see reference numeral D in FIG. 4) is held in a lifted state, that is, the branch hose 37 is inclined downward from the portion designated with reference numeral D, the mouth member. The lower surface 49 of the annular opening 47 (or the lower surface 49 on the distal end side of the annular opening 47) of 11 comes into contact with the bottom surface of the sewer pipe 3 as a whole, for example. Therefore, the chopped deposits and the like can be efficiently sucked into the cleaning hose 13. Although an electric cylinder is used for the vertical movement cylinder 61, a hydraulic cylinder or a pneumatic cylinder may be used.

The state of the tip end side of the cleaning hose 13 during traveling will be described with reference to FIG.

For example, when advancing the pipe cleaning robot 1 to the position of the next deposit, the vertical movement cylinder 61 is contracted to pull up the mouth member 11, and the tip end side of the cleaning hose 13 is along the lower side of the support substrate 5. For example, lift it in a straight line.

Although the cleaning hose 13 is used for sucking sludge and the like here, the cleaning hose 13 may be connected to the water supply device and water may be discharged from the mouth member 11 in order to cut down the sludge and the like.

The configuration of the second pipe cleaning robot will be described with reference to FIG. 9 which is a front view and FIG. 10 which is a side view when the second pipe cleaning robot according to the present invention is arranged in the large-diameter drainage pipe 3. do. The same components as those of the first pipe cleaning robot 1 are designated by the same reference numerals and the description thereof is omitted.

The second in-pipe cleaning robot 79 removes the mounting plate 55, the vertical movement cylinder 61, the lifting link 63, and the cleaning hose 13 from the first in-pipe cleaning robot 1, and instead attaches the swing link bracket 81 on both sides in the width direction. Another mounting plate 85 having a swing cylinder mounting portion 83 protruding forward in the central portion is fixed to the support base 5, and the soil discharging plate 87 is connected to the mounting plate 85. Has been done. The tip of the swing link 89 that curves gently upward and extends rearward is fixed to both sides of the back surface of the soil removal plate 87 in the width direction, and the rear end of the swing link 89 is the mounting plate 85. It is rotatably connected to the swing link bracket 81 of the above (see FIG. 11). A swing cylinder bracket 91 is also provided on the back surface of the soil removal plate 87, and the swing cylinder 93 is connected between the swing cylinder bracket 91 and the swing cylinder mounting portion 83. The bottom 95 of the soil removal plate 87 has the same or substantially the same radius of curvature as the radius of the inner surface of the drainage pipe 3. Although an electric cylinder is used for the swing cylinder 93, a hydraulic cylinder or a pneumatic cylinder may be used.

After injecting high-pressure water from the high-pressure injection nozzle 75 to cut down sludge and other deposits, or by injecting high-pressure water from the high-pressure injection nozzle 75 to cut down sludge and other deposits, the cut-down deposits are cut into pieces. The pipe cleaning robot 79 is run and pushed forward by the soil removal plate 87 to remove it. Here, the rocking cylinder 93 expands and the soil discharge plate 87 descends in a vertical state, and the bottom portion 95 of the soil discharge plate 87 comes into contact with the bottom surface in the sewer pipe 3 as a whole, so that the cut-down deposits and the like can be removed. Can be efficiently pushed and eliminated. As shown in FIG. 12, when the swing cylinder 93 is contracted, the soil removal plate 87 is lifted.

The cleaning hose 13 may be provided in the second pipe cleaning robot 79 as in the first pipe cleaning robot 1. In this case, the cleaning hose 13 is arranged so that the tip portion is slightly located on the rear side so as not to interfere with the soil removal plate 87.

The configuration of the third pipe cleaning robot will be described with reference to FIG. 13 which is a front view and FIG. 14 which is a side view when the third pipe cleaning robot according to the present invention is arranged in the large-diameter drainage pipe 3. do. The same components as those of the second pipe cleaning robot 79 are designated by the same reference numerals and the description thereof is omitted.

The third in-pipe cleaning robot 97 removes the installation plate 85, the high-pressure injection nozzle device 17, the earth removal plate 87 and the swing link 89 from the second in-pipe cleaning robot 79, and instead removes the front side portion of the support base 5. Support bodies 99 are attached to both sides in the width direction, and a damping plate 103 provided with another swinging cylinder bracket 101 on the back surface is swingably attached to the tip of the support body 99, and the swinging cylinder of the damming plate 103. It is configured by connecting the tip of a swing cylinder 93 (slightly longer than that of the second pipe cleaning robot 79) to the bracket 101. The outer surface of the dammed plate 103 has the same or substantially the same radius of curvature as the radius of the inner surface of the sewage pipe 3, and the packing 105 is attached. Further, the front viewing camera 19 is attached to the new camera mount.

Next, the cleaning operation of the third pipe cleaning robot 97 will be described with reference to FIGS. 15 and 16.

In the third pipe cleaning robot 97, deposits such as sludge are not removed by spraying high-pressure water, but by discharging a sewage stream blocked by a dammed plate 103. First, the rocking cylinder 93 is contracted to swing the dammed plate 103 so as to be in a vertical state. Then, the packing 105 of the dam plate 103 is pressed against the lower side surface in the sewage pipe 3, and the space between the outer surface of the dam plate 103 and the lower side surface of the sewage pipe 3 is sealed. Therefore, with the passage of time, the sewage E is dammed and stored by the dam plate 103 (see FIG. 15). When a predetermined amount of sewage E is stored, the swing cylinder 93 is extended to swing the dammed plate 103 forward, the stored sewage E is discharged, and sludge or the like is washed away (FIG. 16).

As shown in FIG. 17, a water ejector 107 is provided on the dam plate 103, high-pressure water is supplied to the water ejector 107 from the high-pressure hose 109, and the stored sewage E is pressurized to increase the width of the dam plate 103. Sewage E may be ejected from the ejection holes 111 provided on both sides of the direction. Reference numeral 113 is a sluice valve that controls the injection of the stored sewage E.

1 First pipe cleaning robot 3 Sewage pipe 5 Support base 7 Traveling means 7
9 Cleaning hose body 11 Port member 13 Cleaning hose 15 Injection port 17 High-pressure injection nozzle device 79 Second pipe cleaning robot 97 Third pipe cleaning robot

Claims (4)

It is a pipe cleaning robot that runs and cleans inside pipes such as large-diameter drainage pipes.
With the support substrate,
A pair of traveling means arranged on both sides of the support substrate in the width direction,
It has a flexible hose body and a mouth member provided at the tip of the hose body.
A hose arranged so as to pass under the support substrate between the pair of traveling means, and a hose.
A pair of high-pressure injection nozzles provided on both sides in the width direction of the support substrate so that the injection port portions for injecting high-pressure fluid face forward.
It is provided with a camera attached to the support substrate so that at least the front can be photographed and the photographing direction can be changed by swinging.
Each of the high-pressure injection nozzles is configured to be independently swingable or rotation-controlled in order to change the direction in which the injection port portion faces, and is provided on a horizontally rotatable mounting support portion provided on the support substrate. It is attached so that it can swing up and down,
A horizontal cylinder between the support substrate and each of the mounting support portions, in which the mounting support portion is rotated in the horizontal direction by an expansion / contraction operation to horizontally shift the direction of the injection port portion of the high-pressure injection nozzle. Is placed,
Between each of the mounting support portions and the high-pressure injection nozzle, the high-pressure injection nozzle is swung up and down by a telescopic operation to shift the direction of the injection port portion of the high-pressure injection nozzle in the vertical direction. A pipe cleaning robot characterized by being provided with a directional cylinder. A cylinder for vertical movement is arranged between the mouth member of the hose and the support substrate.
When the vertical movement cylinder is extended and the mouth member is lowered, the hose body portion on the rear side of the mouth member is configured to be inclined diagonally downward toward the front. The pipe cleaning robot according to claim 1. The pipe cleaning robot according to claim 1 or 2, wherein a soil removal plate is provided in place of or together with the hose. And supporting equity base,
A pair of traveling means arranged on both sides in the width direction of the support substrate.
A hose body having flexibility, disposed so as to pass below the support base between a pair of said traveling means a hose having a spout provided at the tip portion of the hose body,
Setting a pair of high-pressure injection nozzle in the width direction on both sides of the support base as injection port unit for injecting high pressure fluid is directed forward,
It has a camera attached to the support substrate so that it can shoot at least the front and can swing to change the shooting direction.
Each of the high-pressure injection nozzles is run and cleaned in a pipe such as a large-diameter sewage pipe, which is configured to be independently able to swing or rotate in order to change the direction of the injection port. In the pipe cleaning robot
A dammed plate that can swing is provided in place of the hose and the high-pressure injection nozzle.
A pipe cleaning robot characterized in that the dammed plate is provided with a water ejector and a ejection hole.

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