JPS6069393A - Piping inside shifter and piping inside working method using piping inside shifter - Google Patents
Piping inside shifter and piping inside working method using piping inside shifterInfo
- Publication number
- JPS6069393A JPS6069393A JP58175854A JP17585483A JPS6069393A JP S6069393 A JPS6069393 A JP S6069393A JP 58175854 A JP58175854 A JP 58175854A JP 17585483 A JP17585483 A JP 17585483A JP S6069393 A JPS6069393 A JP S6069393A
- Authority
- JP
- Japan
- Prior art keywords
- pipe
- moving
- movable body
- moving body
- feeding unit
- Prior art date
- Legal status (The legal status 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 status listed.)
- Granted
Links
Classifications
-
- 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
- F16L55/18—Appliances for use in repairing pipes
Landscapes
- Engineering & Computer Science (AREA)
- General Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Investigating Or Analyzing Materials By The Use Of Ultrasonic Waves (AREA)
- Electric Cable Installation (AREA)
Abstract
(57)【要約】本公報は電子出願前の出願データであるた
め要約のデータは記録されません。(57) [Summary] This bulletin contains application data before electronic filing, so abstract data is not recorded.
Description
【発明の詳細な説明】
〔発明の利用分野〕
本発明は配管内移動装置、及びこの配管内移動装置を用
いた配管内作業方法に係シ、特にエルボ、ベンド、支管
、あるいは異径管等が組合され、しかも複雑に曲った状
態で地下等に埋設されている配管内へ電線等のケーブル
通線、あるいは作業用ワイヤーの通線作業、または配管
内の保守点検等のために各種作業機器を挿入して行う点
検補修作業に好適な配管内移動装置、及びこの配管内移
動装置を用いた配管内作業方法に関する。[Detailed Description of the Invention] [Field of Application of the Invention] The present invention relates to an intra-pipe moving device and a method for working inside a pipe using this intra-pipe moving device, particularly for elbows, bends, branch pipes, pipes of different diameters, etc. Various work equipment for running cables such as electric wires into pipes that are combined and complicatedly bent and buried underground etc., or work wires, or maintenance and inspection inside pipes. The present invention relates to an intra-pipe moving device suitable for inspection and repair work performed by inserting a pipe, and a method for working inside a pipe using this intra-pipe moving device.
従来、配管内の点検作業を行うには、一旦、検査・作業
機器等の点検機器を配管内に挿入しなければならないた
め、挿入用のけん引用ワイヤーを通線して点検作業を行
うか、あるいは直接配管内の移動装置に作業機器を搭載
、けん引して点検作業を行う方式、その他、’ｔｔｆｆ
ａ等のケーブルを上記ワイヤー通線上同様にして行う方
式等が使用されている。Conventionally, in order to perform inspection work inside the piping, it is necessary to first insert inspection equipment such as inspection and work equipment into the pipe, so it is necessary to conduct the inspection work by passing a traction wire for insertion. Alternatively, a method of mounting work equipment directly on a moving device inside the pipe and towing it for inspection work, etc.
A method is used in which cables such as a are routed in the same manner as above.
第１図に管内の流体を利用して管内を移動する移動装置
の例を示す。該図に示す移動装置は移動脚１、この移動
脚１を制御し流体圧を調整する本体２、これにけん引さ
れた操作器３、及び作業機器４から成シ、更に移動装置
の位置、速度、あるいは作業機器４等を制御するための
制御装置６、これらの作業状態を管理指令するための監
視装置７、及び電源８を備えている。そして、移動装置
にドラム１１に巻回されている作業用ワイヤー、又はケ
ーブル１０を直接取付け、この移動装置を配管１２内を
けん引して配線作業、あるいは配管１２内の点検作業を
行っている。ところが、この方式では内径１５０ｒｒｍ
以上、曲率半径７５０■程度の配管通過能力しかなく内
径２０〜４０源程度の小径管、ベンド管、エルボ、異径
管、支管等の各種実用配管、特にこれらが組合わされて
なる曲シ配管等には適用が困難であった。FIG. 1 shows an example of a moving device that moves within a pipe using fluid within the pipe. The moving device shown in the figure consists of a moving leg 1, a main body 2 that controls the moving leg 1 and adjusts fluid pressure, an operating device 3 towed by the main body 2, and a working device 4, and furthermore, the position and speed of the moving device. , or a control device 6 for controlling the work equipment 4 and the like, a monitoring device 7 for managing and commanding the working status of these devices, and a power source 8. Then, the working wire or cable 10 wound around the drum 11 is directly attached to the moving device, and the moving device is towed inside the pipe 12 to perform wiring work or inspection work inside the pipe 12. However, with this method, the inner diameter is 150 rrm.
As mentioned above, various types of practical piping such as small diameter pipes, bend pipes, elbows, pipes with different diameters, branch pipes, etc. with an inner diameter of about 20 to 40 mm and which have only the ability to pass through pipes with a radius of curvature of about 750 mm, especially curved pipes that are a combination of these pipes, etc. was difficult to apply.
本発明は上述の点に！み成されたもので、その目的とす
るところは、小径管、ベンド管、エルボ支管等が組合わ
されて成る配管内を移動可能な配管内移動装置、及びこ
の配管内移動装置を用いて上記配管内への配線作業、及
び配管内の保守・点検作業が容易な作業方法を提供する
にある。The present invention addresses the above points! The purpose of this system is to provide a pipe moving device that can move inside a pipe that is a combination of small-diameter pipes, bend pipes, elbow branch pipes, etc., and to use this pipe moving device to move the above-mentioned pipes. An object of the present invention is to provide a work method that facilitates wiring work inside and maintenance/inspection work inside piping.
本発明は弾性、かつ適度な柔軟性を有する材料から成る
長尺の移動体と、該移動体の一部を保持して移動体を連
続的に自動送給、回収可能な送給ユニットによシ、配管
内に連続的に送給しつつ配管内を移動体が移動する配管
内移動装置、及び該移動装置の移動体の配管内移動時に
配管内に通される被線材を移動体と一緒に移動させて配
線する方法、またはこの移動装置の移動体を一旦配管出
口まで移動させ、配管出口に出た移動体に被線材を接続
し、しかる後、前記移動体を配管内を元に戻すことによ
シ被線材を配管内に配線する作業方法、更にこの移動体
の先端に作業機器を設け、該作業機器で前記移動体の移
動によって配管内の任意の位置で保守・点検作業を行う
作業方法とすることにより、所期の目的を達成するよう
にしたものである。The present invention uses a long moving body made of an elastic and moderately flexible material, and a feeding unit that can hold a part of the moving body and continuously automatically feed and recover the moving body. An in-pipe moving device in which a movable body moves within the pipe while continuously feeding into the pipe, and a wire material that is passed through the pipe when the movable body of the moving device moves within the pipe together with the movable body. Alternatively, the movable body of this moving device is moved to the piping outlet, the wired material is connected to the movable body that comes out to the piping outlet, and then the movable body is returned to the inside of the piping. In particular, a work method for wiring a wired material inside a pipe, and furthermore, a working device is provided at the tip of this moving body, and maintenance and inspection work is carried out at any position within the pipe by the movement of the moving body with the working equipment. This work method is designed to achieve the intended purpose.
以下、図面の実施例に基づいて本発明の詳細な説明する
。Hereinafter, the present invention will be described in detail based on embodiments of the drawings.
第２図に配管内移動装置の実施例を示す。本実施例は、
弾性、かつ、適度の柔軟性を有する長尺の移動体２１、
該移動体２１の一部を適切な圧力ではさみ、かつ、すペ
シの無い状態で設置した送りローラ２２、この送シロー
ラ２２を駆動するためのローラ原動機２３によシ構成さ
れる移動体送給ユニット２４、及び移動体２１の送給速
度、力、位置等を検出可能な検出器２８、移動体２１の
速度、力等を制御するだめの制御装置２７、移動体巻取
シ用のホルダー２５、ホルダー２５を回転するだめのホ
ルダー原動機２６から成シ、まず、移動体２１が自由に
解放された状態からホルダー原動機２６、または、送給
ユニット２４、あるいはこの両者を同時に駆動させてホ
ルダー２５に順次移動体２１を巻取った後、送給ユニッ
ト２４を配管３００Å口に設置踵移動体２１の先端を送
給ユニット２４にセットした後、送給ユニット２４を駆
動することによシ、移動体２１が配管内に連続的に送給
される。FIG. 2 shows an embodiment of the pipe moving device. In this example,
a long moving body 21 having elasticity and appropriate flexibility;
A movable body feeder comprising a feed roller 22 that holds a part of the movable body 21 under appropriate pressure and is installed without any pressure, and a roller prime mover 23 for driving this feed roller 22. unit 24, a detector 28 capable of detecting the feeding speed, force, position, etc. of the moving body 21, a control device 27 for controlling the speed, force, etc. of the moving body 21, and a holder 25 for winding the moving body 21. , consists of a holder prime mover 26 for rotating the holder 25. First, from a state in which the movable body 21 is freely released, the holder prime mover 26, the feeding unit 24, or both are simultaneously driven to rotate the holder 25. After sequentially winding up the moving body 21, the feeding unit 24 is installed at the 300 Å opening of the pipe.After setting the tip of the heel moving body 21 in the feeding unit 24, the moving body is moved by driving the feeding unit 24. 21 is continuously fed into the pipe.
このような本実施例の移動装置によれば、以下に示す植
々の効果が得られる。即ち、
（１）移動体２１の送給は、送給ユニット２４によシ、
強制的に駆動させるため、配管３０内での移動抵抗が生
じても安定した速度で連続的に移動できる。According to the moving device of this embodiment, the following effects can be obtained. That is, (1) The moving body 21 is fed by the feeding unit 24;
Since it is forcibly driven, it can continuously move at a stable speed even if movement resistance occurs within the pipe 30.
（２）送給ユニット２４を配管３０の入口に置くことに
より送給ユニット２４の移動体支持地点と配管入口の距
離を小さくすることにより、移動体２１０座屈現象を防
止できる。(2) By placing the feeding unit 24 at the entrance of the pipe 30, the distance between the moving body support point of the feeding unit 24 and the pipe entrance can be reduced, thereby preventing the buckling phenomenon of the moving body 210.
（３）送給ユニット２４は移動可能であシ、小さな作業
スペースでも作業でき、しかも位置調整が容易に可能で
ある。(3) The feeding unit 24 is movable, so it can work even in a small work space, and its position can be easily adjusted.
（４）移動体巻取用のホルダー２５を送給、回収時、送
給ユニット２４と同調させて駆動させることによシ、た
わみ、位置ずれ等の無い安定した移動体２１の送給、回
収が可能である。(4) By driving the holder 25 for winding the movable body in synchronization with the feeding unit 24 during feeding and collection, the movable body 21 can be stably fed and collected without bending, displacement, etc. is possible.
（５）移動体２１の回収も全く簡単な操作で自動的に回
収できる。(5) The movable body 21 can be automatically recovered with a completely simple operation.
（６）送給ユニット２４、及びホルダー原動９２６の制
御等によシ送給、回収速度は任意に選定できる。(6) The feeding and collection speeds can be arbitrarily selected by controlling the feeding unit 24 and the holder driving force 926.
（７）移動体２１は強制的に送給されるため、ある程度
の弾性があれば、各種の線材に巾広く適用できる。(7) Since the moving body 21 is forcibly fed, it can be widely applied to various wire rods as long as it has a certain degree of elasticity.
（８）移動体２１は細長く、かつ、弾性と適度の柔軟性
を有するため、小径管、ペンド管、エルボ、異径管等従
来方式では困難であった各種実用配管内の通過が可能と
なる。(8) Since the movable body 21 is elongated and has elasticity and appropriate flexibility, it can pass through various practical piping, such as small diameter pipes, pend pipes, elbows, and pipes with different diameters, which were difficult to use with conventional methods. .
（９）移動体２１の送給は、巻取られた移動体２１の弾
性エネルギーが推進エネルギーに変換される現象を利用
すれば、送給エネルギーを節約できる。(9) When feeding the moving body 21, the feeding energy can be saved by utilizing the phenomenon in which the elastic energy of the wound moving body 21 is converted into propulsion energy.
０の 移動体２１に駆動装置が付いていないため、運転
中も保守が容易である。Since the moving body 21 of No. 0 does not have a drive device, maintenance is easy even during operation.
（Ｉｆ） 移動体２１の構造が小型簡易であるため、作
業機器の搭載、けん引のスペースが配管３０内の移動体
２１に有効に確保できる。(If) Since the structure of the movable body 21 is small and simple, a space for mounting and towing working equipment can be effectively secured in the movable body 21 within the piping 30.
１２ 移動体２１そのものに防水、防爆性があｐｌ 。12 The mobile body 21 itself is waterproof and explosion-proof.
可燃性ガス中や水中でもそのまま使用できる。Can be used as is even in flammable gas or underwater.
次に第３図〜第８図に本実施例に採用される移動体２１
が配管３０内を移動する際に、移動体２１の先端部が配
管３０内の壁面ところが多接触しつつ移動するために、
移動体２１の先端に回転体を保持したヘッドを備えた移
動体２１の種々実施例を示す。Next, FIGS. 3 to 8 show a moving body 21 adopted in this embodiment.
When moving inside the piping 30, the tip of the moving body 21 moves while making multiple contact with the wall inside the piping 30.
Various embodiments of the movable body 21 are shown, each of which has a head that holds a rotating body at the tip of the movable body 21.
まず、第３図は、第２図に示したような移動体２１の先
端に支持ヘッド３１を固定し、これの円周上に複数のポ
ール３２を回転自在に取付け、このポール３２で配管３
０内の壁面ところが多接触しつつ移動する移動体２１の
例である。また、第４図は、第３図のポール３２の代わ
シに支持ヘッド３１にローラ３３を回転自在に取付けた
ものである。次に、第５図は、移動体２１の先端に移動
体２１の長手方向に多数のポール３２を回転自在に取付
け、上述と同様に移動させるものである。First, in FIG. 3, a support head 31 is fixed to the tip of a movable body 21 as shown in FIG.
This is an example of a moving body 21 that moves while making multiple contact with the wall surface inside 0. Further, in FIG. 4, a roller 33 is rotatably attached to the support head 31 in place of the pole 32 in FIG. 3. Next, in FIG. 5, a large number of poles 32 are rotatably attached to the tip of the moving body 21 in the longitudinal direction of the moving body 21, and are moved in the same manner as described above.
第６図は、移動体２１の先端に、この移動体２１の長手
方向に多数のロー２３３を回転自在に取付けた例である
。さらに、第７図は、移動体２１め先端に固定したアー
ム３４に設けた軸に回転自在に球３５を取付けた移動体
の例である。最後に、第８図（ａ）は、移動体２１の先
端に固定したリンク３８に車輪３９を回転自在に取付け
たこと、及び第８図（ｂ）は、同様にリンク３８にクロ
ーラ４０を回転自在に取付けた移動体の例である。FIG. 6 shows an example in which a large number of rows 233 are rotatably attached to the tip of the moving body 21 in the longitudinal direction of the moving body 21. As shown in FIG. Furthermore, FIG. 7 shows an example of a movable body in which a ball 35 is rotatably attached to a shaft provided on an arm 34 fixed to the tip of the movable body 21. Finally, FIG. 8(a) shows that the wheels 39 are rotatably attached to the link 38 fixed to the tip of the moving body 21, and FIG. 8(b) shows that the crawler 40 is similarly rotated on the link 38. This is an example of a movable object that can be freely attached.
このような各々の本実施例の移動体によれば、 ′以下
に示す種々の効果が得られる。According to each of the moving bodies of the present embodiments, the following various effects can be obtained.
（１）移動体２１が配管３０内を移動する際に、配管３
０内表面との摩擦を大巾に低減できる。(1) When the movable body 21 moves inside the piping 30, the piping 3
Friction with the inner surface can be greatly reduced.
（２）配管３０の内壁面の段差、起伏、曲がシ等移動体
２１が引つかかシ、摩擦抵抗の集中の可能性のある所で
もスムースに通過できる。(2) The movable body 21 can pass smoothly even in places where the inner wall surface of the pipe 30 has differences in level, undulations, curves, etc., where there is a possibility of the movable body 21 getting caught or concentrated with frictional resistance.
（３）移動体２１に点検・作業機器等を搭載して重量が
増加する場合も摩擦抵抗を軽減できる。(3) Frictional resistance can be reduced even when the moving body 21 is loaded with inspection/working equipment and the weight increases.
（４）移動体２１先端部の摩耗を防止することかできる
。(4) It is possible to prevent wear of the tip of the moving body 21.
（５）第８図（ｂ）のクローラ４０を用いる方式は、特
に配管内３０の表面の起伏、段差等の乗シこえが容易と
なる。(5) In the method using the crawler 40 shown in FIG. 8(b), it is particularly easy to climb over undulations, steps, etc. on the surface of the inside of the pipe 30.
次に、第９図（ａ）に示す実施例は、移動体２１の表面
全部に、第９図（ｂ）、 （Ｃ）は移動体２１０表面の
一部に被覆体４１を被覆したもので、特に第９図（ψは
らせん状に被覆体４１を被覆し、移動体２１自体が直接
配管３０内の壁面と接触することを防止したものである
。この本実施例の移動体２１によれば、以下に示すよう
な種々の効果が得られる。Next, in the embodiment shown in FIG. 9(a), the entire surface of the moving body 21 is coated with the covering body 41, and in FIG. 9(b) and (C), a part of the surface of the moving body 210 is coated with the covering body 41. , especially in FIG. 9 (ψ is a cover 41 coated in a spiral shape to prevent the movable body 21 itself from directly contacting the wall surface inside the pipe 30.The movable body 21 of this embodiment For example, various effects as shown below can be obtained.
（１）被覆体４１にテフロン等摩擦抵抗の発生しにくい
材料を用いることによシ、移動体２１の配管３０内にお
ける移動抵抗を低減することができる。(1) By using a material that does not easily generate frictional resistance, such as Teflon, for the covering body 41, the movement resistance of the movable body 21 within the piping 30 can be reduced.
（２）移動体２１と配管３０内壁面との直接の接触を防
止することによシ、移動体２１の摩耗、損傷等を防止で
きる。(2) By preventing direct contact between the movable body 21 and the inner wall surface of the pipe 30, wear and damage to the movable body 21 can be prevented.
（３）第９図（ａ＞’、 （ｂ） 、 （ｃ）に示すよ
うに、必要に応じて被覆体４１の被覆法を工夫すること
によシ、配管の種類、長さ等の用途に応じた被覆手法を
とることができる。(3) As shown in Fig. 9 (a>', (b), and (c), by devising the covering method of the covering body 41 as necessary, the type of piping, length, etc.) A coating method can be used depending on the situation.
次に第１０図（ａ）、 （ｂ）、 （Ｃ）は、前記第９
図（ａ） 、 （ｂ） 。Next, FIGS. 10(a), (b), and (C) show the above-mentioned 9th
Figures (a) and (b).
（Ｃ）に記載のような被覆体４１に潤滑油、あるいはそ
の他の潤滑剤４３を含浸させた被覆体４２を備えた移動
体の例を示す。An example of a moving body including a covering body 42 in which a covering body 41 as described in (C) is impregnated with lubricating oil or other lubricant 43 is shown.
本実施例の移動体２１によれば、
（１）含浸させた被覆体４２が、配管３０内の壁面と接
触しつつ配管３０内を移動する際に、含浸させた前記潤
滑剤４３を流出しつつ移動することによシ、移動体２１
の移動抵抗を減少させることができる。According to the movable body 21 of this embodiment, (1) When the impregnated coating 42 moves inside the pipe 30 while contacting the wall surface inside the pipe 30, the impregnated lubricant 43 flows out. By moving while moving, the moving body 21
can reduce the movement resistance of
（２）配管３０内表面の段差、起伏、曲がシ部等、特に
外力を受け易い所を被覆体４２が通過する際には、含浸
させた潤滑剤４３をよシ多量式放出することにより、一
層の潤滑効果を得ることができる。(2) When the covering body 42 passes through places that are particularly susceptible to external forces, such as steps, undulations, and bends on the inner surface of the pipe 30, a large amount of the impregnated lubricant 43 is released. , further lubrication effect can be obtained.
（３）前記（１）、（２）と同様な現象において、被覆
体４２自体の摩耗を防止することができる。(3) In the same phenomenon as (1) and (2) above, it is possible to prevent the covering 42 itself from being worn out.
また、第１１図は、移動体２１の一部にボール等の回転
支持体４４を備えた移動体の実施例を示す。Further, FIG. 11 shows an embodiment of a moving body in which a part of the moving body 21 is provided with a rotating support 44 such as a ball.
本実施例によれば、
（１）移動体２１が配管３０内を移動する際に配管３０
内の表面との摩擦を大巾に低減できる。According to this embodiment, (1) When the moving body 21 moves inside the pipe 30,
Friction with the inner surface can be greatly reduced.
（２）配管３０内壁面の段差、起伏、曲がシ等の移動体
２１が引つかかシ、摩擦抵抗の集中の可能性のある所で
もスムースに通過できる。(2) The movable body 21 can pass through smoothly even in places where the inner wall surface of the pipe 30 has differences in level, undulations, curves, etc., where there is a possibility of concentration of frictional resistance.
（３）移動体２１の重量が増大しても、摩擦抵抗を軽減
できる。(3) Even if the weight of the moving body 21 increases, frictional resistance can be reduced.
（４）移動体２１自体の壁面との摩擦による摩耗を防止
できる。(4) Wear caused by friction with the wall surface of the moving body 21 itself can be prevented.
等の種々の効果が得られる。Various effects such as
更に第１２図は、移動体２１の表面に一定間隔で検知材
４５を備え、移動体２１の移動中にこの検知材４５を検
知可能なセンサ４６とその検出回路４７を設け、移動体
２１の移動速度、位置等を検出する移動体の実施例を示
す。検知材４５としては、例えば、アルミ薄、塗料等、
また、検出用センサ４６としては、光センサ等を用いれ
ば、正確な位置検知が可能である。Further, in FIG. 12, detection materials 45 are provided on the surface of the moving body 21 at regular intervals, and a sensor 46 and its detection circuit 47 capable of detecting the detection materials 45 while the moving body 21 is moving are provided. An example of a moving object that detects moving speed, position, etc. will be shown. As the detection material 45, for example, thin aluminum, paint, etc.
Moreover, if an optical sensor or the like is used as the detection sensor 46, accurate position detection is possible.
この実施例の移動体２１によれば、以下のような効果が
得られる。即ち、
（１）移動体２１の位置を直接的に検出できるため、送
給ユニット等使用して、回転数等によシ検出する場合の
移動体２１のすベシ等による一検出を防止できる。According to the moving body 21 of this embodiment, the following effects can be obtained. That is, (1) Since the position of the movable body 21 can be directly detected, it is possible to prevent detection due to the movement of the movable body 21, etc. when detecting the rotation speed etc. using a feeding unit or the like.
（２）検出信号をフィードバックすることによシ、前記
送給ユニット等による速度制御９位置制御をリアルタイ
ムに自動制御できる。(2) By feeding back the detection signal, the speed control 9 position control by the feeding unit etc. can be automatically controlled in real time.
（３）検出材４５を移動体２１に付加する間隔や数を工
夫することによシ、移動体２１の停止信号。(3) A stop signal for the moving body 21 can be generated by adjusting the interval and number of detection materials 45 added to the moving body 21.
距離限界信号等を検知することができる。Distance limit signals and the like can be detected.
第１３図（ａ） 、 （ｂ）は、移動体２１′ｆ：中空
とした中空移動体４８を備えた移動体の実施例を示す。FIGS. 13(a) and 13(b) show an embodiment of a moving body 21'f: a moving body including a hollow moving body 48.
本実施例によれば、第９図（ｂ）のように、中空移動体
４８の内部に配線等の線材４９または、気体。According to this embodiment, as shown in FIG. 9(b), a wire 49 such as wiring or gas is placed inside the hollow moving body 48.
液体等作業に必要な材料を、移動体の移動に影響の無い
状態で供給することができると共に、移動体２１の重量
を大巾に低減できる。Materials necessary for the work, such as liquids, can be supplied without affecting the movement of the movable body, and the weight of the movable body 21 can be greatly reduced.
次に第１４図及び第１５図を用いて、上記した移動装置
、及び移動体を用いて行う配管内への配線作業、及び保
守点検作業について説明する。Next, with reference to FIGS. 14 and 15, a description will be given of the wiring work in the pipes and the maintenance and inspection work performed using the above-mentioned moving device and moving body.
まず、第１４図は配管内への各種点検・作業機器挿入用
の作業用ワイヤー、あるいは、電線等ケーブルの通線に
関する配線作業方法の例である。First, FIG. 14 shows an example of a wiring work method for passing working wires or cables such as electric wires for inserting various inspection and working equipment into piping.
第２図に示した移動体２Ｌ−ｉたは、第３図〜第１３図
に示した移動体、ホルダー２５、ホルダー原動機２６、
制御装置２７、検出器２８、移動体送給ユニット２４を
用い、これに作業用ワイヤー、又はケーブル５８、及び
その巻取供給ドラム５６、更に移動体２１の速度、位置
等の指令、監視を行うだめの監視装置３２を加えた構成
により、移動体２１の先端に直接作業用ワイヤー、又は
ケーブル５８を取付けるか、あるいは一旦移動体２１を
配管に通した後、その出口で作業用ワイヤー、又はケー
ブル５８を取付けて移動体２１を移動させることにより
、配管内に通信線を配線する。これによム段差５１、ペ
ンド５２、エルボ５３、異径管５４、支管５５等を有す
る複雑な配管であっても、自動、かつ、連続的にワイヤ
ー等の位置、移動速変力全検出制御しながら通線作業を
行うことができる。The moving body 2L-i shown in FIG. 2 or the moving body shown in FIGS. 3 to 13, the holder 25, the holder prime mover 26,
A control device 27, a detector 28, and a moving body feeding unit 24 are used to command and monitor the working wire or cable 58, its winding supply drum 56, and the speed, position, etc. of the moving body 21. With the configuration that includes the additional monitoring device 32, the working wire or cable 58 can be attached directly to the tip of the moving body 21, or the working wire or cable 58 can be attached at the outlet of the piping after the moving body 21 has passed through the pipe. 58 and moves the movable body 21, a communication line is wired inside the pipe. As a result, even if the piping is complicated with steps 51, pends 52, elbows 53, pipes of different diameters 54, branch pipes 55, etc., the position of wires, etc., and movement speed changes can be automatically and continuously detected and controlled. You can carry out wiring work while doing so.
このような本実施例によれば、次のような種々の効果が
得られる。即ち、
（１）従来の装置では不可能であった各種実用配管内へ
の通線作業が可能となった。According to this embodiment, the following various effects can be obtained. That is, (1) It has become possible to run wires into various practical pipes, which was impossible with conventional equipment.
（２）高速、高能率なシステムが得られるため、作業能
率が大巾に向上する。(2) Since a high-speed, highly efficient system is obtained, work efficiency is greatly improved.
（３）可燃性ガス、水中等であっても、これを停止する
ことなく作業できる。(3) Even in flammable gas, water, etc., work can be done without stopping.
次に、第１５図は、第２図に示した移動体２１、又は第
３図〜第１３図に示した移動体２１、ホルダー２５、ホ
ルダー原動機２６、制御装置２７、検出器２８、移動体
送給ユニツ）２４′ｆ：用い、これに各種カメラ等セン
サ類、又は溶接、加工機等の補修機器等点検機器６０と
、これが管内を安定して通過できるためのそシ等の補助
機器６２を搭載し、点検機器６０の操作制御機能を制御
装置２７に付加し、更に作業の開始データの確認、収集
等を可能にした監視装置５０から構成されるシステムで
あり、移動装置によって、配管内の目的の位置へ点検機
器６０を移動し、配管内の検査、補修等を行うことがで
きる。Next, FIG. 15 shows the moving body 21 shown in FIG. 2, or the moving body 21 shown in FIGS. Feeding unit) 24'f: Used, with various sensors such as cameras, or inspection equipment 60 such as repair equipment such as welding and processing machines, and auxiliary equipment 62 such as rods to allow it to pass stably through the pipe. This system is equipped with a monitoring device 50 that is equipped with a control device 27, which has an operational control function for inspection equipment 60 added to the control device 27, and also makes it possible to confirm and collect work start data. The inspection equipment 60 can be moved to the desired position to inspect, repair, etc. inside the piping.
本実施例によれば、次のような効果が期待できる。According to this embodiment, the following effects can be expected.
（１）従来の装置では不可能であった各種実用配管の点
検作業が可能となった。(1) It has become possible to inspect various types of practical piping, which was impossible with conventional equipment.
（２）高速、高能率のシステムが得られるため、作業能
率が大巾に向上する。(2) Since a high-speed, highly efficient system is obtained, work efficiency is greatly improved.
（３）作業コストが大巾に低減できる。(3) Work costs can be significantly reduced.
次に第１６図は、配管３０の内面にシール材６９をシー
ルする工法において、配管３０の分岐部５５のシール材
を除去するために、まず、シール作業の前に、前記移動
体２１、送給ユニット２４、検出器２８、監視装置５０
、ホルダー２５から成る装置を用い、この先端にテレビ
カメラ等のセンサを搭載し、一旦移動体２１を配管３０
内に通し、分岐部５５の位置を検出し、所定の配管長さ
を移動させた後、反対側の配管のシール作業を行い、こ
の次に入口からシール材６９の上から分岐部５５を検出
可能なセンサ６７を搭載したセンサ用ビグ６５、これと
連結した加工機６８を搭載した加工機用ピグ６４を前記
移動体２１に取付け、送給ユニット２４を逆転させて分
岐部５５の位置を正確にスキャンしながら検出し、この
後、加工機６８をセットして孔あけを行うような作業方
法である。Next, FIG. 16 shows that in the method of sealing the inner surface of the pipe 30 with a sealant 69, in order to remove the sealant from the branch part 55 of the pipe 30, first, before the sealing work, the moving body 21, Supply unit 24, detector 28, monitoring device 50
, a device consisting of a holder 25 is used, a sensor such as a television camera is mounted on the tip of the device, and the movable body 21 is temporarily attached to the pipe 30.
After detecting the position of the branch part 55 and moving the pipe a predetermined length, sealing the pipe on the opposite side is performed, and then the branch part 55 is detected from above the sealing material 69 from the inlet. A sensor pig 65 equipped with a possible sensor 67 and a processing machine pig 64 equipped with a processing machine 68 connected thereto are attached to the movable body 21, and the feeding unit 24 is reversed to accurately position the branch part 55. This is a working method in which the hole is detected while being scanned, and then the processing machine 68 is set and the hole is drilled.
本実施例によれば、次に示す種々の効果が得られる。According to this embodiment, the following various effects can be obtained.
（１）孔の位置を事前に検知しておくことによシ、加工
前の孔の検出が容易に行える。(1) By detecting the position of the hole in advance, the hole can be easily detected before processing.
（２）孔の検出作業と加工が一連に可能である。(2) Hole detection and processing can be performed in series.
（３）センサの機能は、従来のもので十分対応でき、シ
ール後にいきなりセンシングするより大きな効果を得る
ことができる。(3) Conventional sensor functions are sufficient, and a greater effect can be obtained than sensing immediately after sealing.
尚、第４図、第５図、第７図、及び第８図の移動体体に
おいて、移動体２１の先端の支持ヘッド３１、アーム３
４、リンク３８を移動体２１の長手方向を軸として回転
自在にすることによシ、移動体２１のねじれ等による前
記回転方向の摩擦を低減できる効果もある。In addition, in the movable bodies shown in FIGS. 4, 5, 7, and 8, the support head 31 and the arm 3 at the tip of the movable body 21 are
4. By making the link 38 rotatable around the longitudinal direction of the movable body 21, there is also the effect of reducing friction in the rotational direction due to twisting of the movable body 21, etc.
以上説明した本発明の配管内移動装置、及びこの配管内
移動装置を用いた配管内作業方法によれば、弾性、かつ
、適度の柔軟性を有する材料から成る長尺の移動体と、
該移動体の一部を保持して移動体を連続的に送給可能な
送給ユニット、及び制御装置により、送給ユニットを駆
動して移動体を連続的に配管内に送給、回収できる配管
内移動装置、及びこれらの移動装置、あるいは移動体に
おける移動体と一緒に移動させて配線すること、もしく
は、移動体を一旦配管出口まで！Ｉｋ勤させ、配管出口
に出だ移動体ＫＭ線材を接続し、しかる後、前記移動体
を配管内に戻すことにより配管内に配線する作業方法、
さらに、この移動体の先端に点検作業機器を設け、該点
検機器で配管内の点検補修を行う作業方法としたもので
あるから、小径管、エルボ、ペンド管、異径管、段差、
分岐管、あるいはこれらが組合された複雑な配管であっ
ても、本発明の移動装置は、自由に移動可能となシ、従
来困難であった各種実用配管内の検査、点検機器等を搭
載けん引して、配管内外面の検査、補修等を簡単に行え
ると共に、ワイヤー、ケーブル等の配線も容易となり、
此種配管内の作業に採用する場合には非常に有効である
。According to the in-pipe moving device and the in-pipe working method using this in-pipe moving device of the present invention described above, a long moving body made of an elastic and moderately flexible material;
A feeding unit that can hold a part of the moving body and continuously feed the moving body, and a control device can drive the feeding unit to continuously feed and collect the moving body into the piping. Move and wire the moving device in the piping, these moving devices, the moving object in the moving body, or once the moving object to the piping outlet! A work method for wiring inside the pipe by connecting the moving body KM wire rod to the pipe outlet, and then returning the moving body to the pipe;
Furthermore, since the inspection work equipment is installed at the tip of this moving body and the inspection equipment is used to inspect and repair the inside of the piping, it can be used for small diameter pipes, elbows, pend pipes, different diameter pipes, steps, etc.
Even if it is a branch pipe or a complex pipe that is a combination of these, the moving device of the present invention can be moved freely, and can be towed and inspected inside various practical pipes, which was difficult in the past. This makes it easy to inspect and repair the inside and outside of piping, as well as wiring wires, cables, etc.
It is very effective when used for work inside this type of piping.
第１図は従来の移動装置を示す平面図、第２図は本発明
の移動装置の一実施例を示す概略図、第３図〜第８図は
本実施例の移動装置に用いられる移動体の先端に回転支
持体を付加した移動体の各実施例を示すもので、第３図
は円周上に複数のボールを設けた図、第４図はローラを
設けた図、第５図は移動体の長手方向に複数のボールを
設けた図、第６図は移動体の長手方向に複数のローラを
設けた区、第７図は球を回転自在に設けた斜視図、第８
図（ａ）は車輪を回転自在に設けた斜視図、第８図（ｂ
）はクローラを回転自在に設けた斜視図、第９図は移動
体に被覆体を付加した移動体を示すもので、第９図（ａ
）は移動体表面全体に設けた断面図、第９図（ｂ）は部
分的に設けた断面図、第９図（Ｃ）はらせん状に設けた
断面図、第１０図は第９図に示す被覆体に潤滑剤を言浸
させた移動体を示し、第１０１ｉ９（ａ）、 （ｂ）、
（Ｃ）は第９図（ａ） 、 （ｂ） 、 （ｃ）にそ
れぞれ相当する図、第１１図は移動体の一部に回転支持
体を設けた移動体の図、第１２図は移動体に検知材を付
加した移動体の図、第１３図（ａ）は中空の移動体を示
す斜視図、第１３図（ｂ）はそれに線材を挿入した状態
を示す斜視図、第１４図は本発明の移動装置を用いて地
下埋設管にワイヤーを通線する通線作業状態を示す断面
図、第１５図は配管内の点検を行う点検作業状態を示す
断面図、第１６図は本発明の移動装置を用いて配管内の
分岐部の検出、孔あけ作業状態を示す断面図である。
２１・・・移動体、２２・・・送シローラ、２３・・・
ローラ原動機、２４・・・移動体送給ユニット、２５・
・・ホルダー、２６・・・ホルダー原動機、２７・・・
制御装置、２８・・・検出器、２９・・・電源、３０・
・・配管、３１・・・支持ヘッド、３企・・・ボール、
３３・・・ローラ、３４・・・アーム、３５・・・球、
３８・・・リンク、３９・・・車輪、４０・・・クロー
ラ、４１・・・被覆体、４２・・・含浸材、４３・・・
潤滑剤、４４・・・回転支持体、４５・・・検知材、４
６．６３．６７・・・センサ、４７・・・検出回路、４
８・・・中空移動体、４９・・・挿入体、５０・・・監
視装置、５１．５９・・・継手、５２・・・ペンド、５
３・・・エルボ、５４・・・レジューサ、５５・・・分
岐管、５６・・・巻取ドラム、５７・・・架台、５８・
・・作業用ワイヤー又はクープル、６０・・・点検機器
、６１・・・土砂、６２・・・補助器、６４・・・加工
機用ピグ、６５・・・センサ用ピグ、６６・・・連結器
、６８・・・加工機、６９・・・１３ 口
ＪＯ
Ｙ：Ｊ４の
０
￥Ｊｙ口
第７０
’ｌ、ｓ口
第ｑ口
（良）
′ｆＪｒｏ印
（久）
’ｌ ＩＩ 口
第１２０
′！ｆｌ１１３０
第１頁の続き
０発 明 者 佐 藤 主 税 日立市森山町１究所内
０発 明 者 内 藤 紳 司 日立市森山町１究所内FIG. 1 is a plan view showing a conventional moving device, FIG. 2 is a schematic diagram showing an embodiment of the moving device of the present invention, and FIGS. 3 to 8 are moving bodies used in the moving device of the present embodiment. Fig. 3 is a diagram in which a plurality of balls are provided on the circumference, Fig. 4 is a diagram in which rollers are provided, and Fig. 5 is a diagram in which a rotary support body is added to the tip of the movable body. FIG. 6 shows a section in which a plurality of balls are provided in the longitudinal direction of a moving body, FIG. 7 is a perspective view in which a plurality of balls are provided in a rotatable manner, and FIG.
Figure (a) is a perspective view of the wheels rotatably provided, Figure 8 (b)
) is a perspective view of a rotatably mounted crawler, and Figure 9 shows a moving body with a cover added to it.
) is a cross-sectional view of the entire surface of the moving body, FIG. 9(b) is a cross-sectional view of a partial surface, FIG. 9(C) is a cross-sectional view of a spirally formed surface, and FIG. 101i9(a), (b),
(C) is a diagram corresponding to Figures 9 (a), (b), and (c), respectively. Figure 11 is a diagram of a moving body with a rotating support provided as a part of the moving body, and Figure 12 is a diagram of a moving body. FIG. 13(a) is a perspective view showing a hollow moving body, FIG. 13(b) is a perspective view showing a state in which a wire is inserted into it, and FIG. 14 is a diagram of a moving body with a detection material added to its body. FIG. 15 is a sectional view illustrating the state of wiring work in which wires are routed through underground pipes using the moving device of the present invention. FIG. 15 is a sectional view showing the state of inspection work in which the inside of the pipe is inspected. FIG. FIG. 2 is a cross-sectional view showing the state of detecting a branch in a pipe and drilling a hole using the moving device. 21... Moving body, 22... Feed roller, 23...
Roller prime mover, 24... moving object feeding unit, 25...
...Holder, 26...Holder prime mover, 27...
Control device, 28...Detector, 29...Power source, 30.
...Piping, 31...Support head, 3 companies...Ball,
33...roller, 34...arm, 35...ball,
38... Link, 39... Wheel, 40... Crawler, 41... Covering body, 42... Impregnated material, 43...
Lubricant, 44... Rotating support body, 45... Detection material, 4
6.63.67...sensor, 47...detection circuit, 4
8...Hollow moving body, 49...Insert body, 50...Monitoring device, 51.59...Joint, 52...Pend, 5
3... Elbow, 54... Reducer, 55... Branch pipe, 56... Winding drum, 57... Frame, 58...
...Working wire or couple, 60...Inspection equipment, 61...Soil, 62...Auxiliary device, 64...Pig for processing machine, 65...Pig for sensor, 66...Connection Equipment, 68...Processing machine, 69...13 JO Y: J4's 0 ¥Jy mouth 70th 'l, s mouth qth mouth (good) 'f Jro mark (long) 'l II mouth 120' ! fl1130 Continued from page 1 0 Inventor: Mr. Sato, Tax, Moriyama-cho 1st Institute, Hitachi City 0 Inventor: Shinji Naito, Inside Moriyama-cho 1st Institute, Hitachi City
Claims (1)
尺の移動体と、該移動体を連続的に巻取る巻取り装置と
、該巻取シ装置からの移動体の一部を保持し、該移動体
を連続的に送給可能な送給ユニットと、該送給ユニット
を制御する送給ユニット制御装置とを備え、配管の入口
近傍に前記送給ユニットを設置し、該送給ユニットを駆
動させて前記移動体が連続的に配管内を移動することを
特徴とする配管内移動装置。 ２、前記送給ユニットは、前記移動体の一部をはさみ、
かつ、すべｐの無い状態で設置した送ジロー２と、該送
シローラを駆動するためのロー久原動機とからなること
を特徴とする特許請求の範囲第１項記載の配管内移動装
置。 ３、前記巻取シ装置は、前記送給ユニットの近傍に移動
体を巻取るための回転可能なホルダーと、該ホルダーを
回転させるホルダー原動機とを備え、前記移動体の一端
をホルダーに固定した後、前記送給ユニットを駆動させ
ることによシ自動的にホルダーに移動体を回収し、次に
配管入口近傍に前記送給ユニットを設置して、配管内へ
移動体を連続的に供給しつつ配管内を移動することを特
徴とする特許請求の範囲第１項記載の配管内移動装置。 ４、前記移動体巻取用のホルダー、ホルダー回転用の原
動機は制御装置を備え、前記移動体の送給、回収時に該
原動機を送給ユニットと同調させて制御しつつ移動体を
配管内に送給、回収することを特徴とする特許請求の範
囲第３項記載の配管内移動装置。 ５、前記移動体の先端に少なくとも１個の回転体を保持
したヘッドを備え、前記移動体が配管内を移動する際に
該移動体先端部の回転体が管内壁面ところがシ接触をし
つつ移動することを特徴とする特許請求の範囲第１項記
載の配管内移動装置。 ６、前記移動体の表面の少なくとも一部を被覆体で被覆
し、前記移動体が配管内を移動する際に被覆部分が管内
壁と接触しつつ移動することを特徴とする特許請求の範
囲第１項記載の配管内移動装置。 ７、前記移動体の被覆体に潤滑剤を含浸させ、配管内を
移動体が移動する際に、適時配管内壁面と移動体の間に
潤滑を生じつつ移動することを特徴とする特許請求の範
囲第６項記載の配管内移動装置。 ８、前記移動体の一部に複数の回転支持体を備え、前記
移動体が配管内を移動する際に、該移動体の任意の位置
で配管内の壁面と移動体の本体との直接的な接触を防止
しつつ、前記回転支持体でガイドすることを特徴とする
特許請求の範囲第１項記載の配管内移動装置う ９、前記移動体の表面に一定間隔をもって検知材を設け
ると共に、前記移動体の移動中にこの検知材を検知可能
なセンサ、及び検出回路を備え、前記移動体の移動距離
、または位置を確認しつつ移動することを特徴とする特
許請求の範囲第１項記載の配管内移動装置。 １０、前記移動体を中空構造とし、作業に必要な機材を
該移動体の中空部から供給できるようにしたことを特徴
とする特許請求の範囲第１項記載の配管内移動装置。 １１、弾性、かつ、適度な柔軟性を有する材料から成る
長尺の移動体を、該移動体を保持し、連続的に自動送給
、回収可能な送給ユニットによｐ１配管内に連続的に送
給しつつ配管内を移動体が移動し、この移動体移動時に
配管内に通される被線材を移動体と一緒に移動させて配
線することを特徴とする配管内移動装置を用いた配管内
作業方法。 １２、前記配管内の移動体の位置、速度等を監視装置で
確認しながら配線することを特徴とする特許請求の範囲
第１１項記載の配管内移動装置を用いた配管内作業方法
。 １３、弾性、かつ、適度な柔軟性を有する材料から成る
長尺の移動体を、該移動体を保持し、連続的に自動送給
、回収可能な送給ユニットにより、配管内に連続的に送
給しつつ配管内を移動体が移動し、この移動体を一旦配
管出口まで移動させ、配管出口に出た移動体に被線材を
接続し、しかる後、前記移動体を配管内を元に戻すこと
により被線材を配管内に配線することを特徴とする配管
内移動装置を用いた配管内作業方法。 １４、前記配管内の移動体の位置、速度等を監視装置で
確認しながら配線することを特徴とする特許請求の範囲
第１３項記載の配管内移動装置を用いた配管内作業方法
。 １５、弾性、かつ、適度な柔軟性を有する材料から成る
長尺の移動体を、該移動体を保持し、連続的に自動送給
、回収可能な送給ユニットにょシ、配管内に連続的に送
給回収しつつ配管内を移動体が移動すると共に、前記移
動体の先端に作業機器を設け、該作業機器で前記移動体
の移動によって配管内の任意の位置で点検・補修作業を
行うことを特徴とする配管内移動装置を用いた配管内作
業方法。 １６、前記作業機器の操作制御を制御装置で行うと共に
、作業機器の作業の開始、データの確認、収集等を監視
装置により行うことを特徴とする特許請求の範囲第１５
項記載の配管内移動装置を用いた配管内作業方法。 １７、前記作業機器として移動体の先端にセンサとこれ
を搭載したピグを設け、該ピグによって配管内の分岐部
の位置を確認測定したあとシール材をシーリングし、そ
の次にシール材の上から分岐部をセンシング可能なセン
サを搭載したピグと孔あけ加工用ピグを配管内に送シ、
分岐部のセンシングを正確に行った後、前記孔あけ加工
用ビグで分岐部に孔あけを行うことを特徴とする特許請
求の範囲第１５項記載の配管内移動装置を用いた配管内
作業方法。 １８、前記センサを搭載したピグと孔あけ加工用ビグを
、シール材のシーリングの前にセンサを用いずにシール
材を施した後、直接的に孔位置を検出して孔あけを行う
ことを特徴とする特許請求の範囲第１７項記載の配管内
移動装置を用いた配管内作業方法。[Claims] 1. A long moving body made of an elastic and moderately flexible material, a winding device that continuously winds up the moving body, and movement from the winding device. A feeding unit that holds a part of the body and can continuously feed the moving body, and a feeding unit control device that controls the feeding unit, and the feeding unit is installed near the entrance of the piping. An intra-pipe movement device, characterized in that the moving body moves continuously within the pipe by driving the feeding unit. 2. The feeding unit pinches a part of the moving body,
The in-pipe moving device according to claim 1, further comprising a feed roller 2 installed without any slippage, and a roller motor for driving the feed roller. 3. The winding device includes a rotatable holder for winding up the movable body near the feeding unit, and a holder motor for rotating the holder, and one end of the movable body is fixed to the holder. After that, the moving body is automatically collected into the holder by driving the feeding unit, and then the feeding unit is installed near the pipe inlet to continuously supply the moving body into the pipe. 2. The moving device within a pipe according to claim 1, wherein the moving device moves within a pipe while moving inside the pipe. 4. The holder for winding up the movable body and the prime mover for rotating the holder are equipped with a control device, and when feeding and collecting the movable body, the prime mover is controlled in synchronization with the feeding unit, and the movable body is inserted into the piping. The in-pipe movement device according to claim 3, characterized in that it feeds and recovers. 5. A head holding at least one rotating body is provided at the tip of the moving body, and when the moving body moves within the pipe, the rotating body at the tip of the moving body moves while making contact with the inner wall of the pipe. An in-pipe movement device according to claim 1, characterized in that: 6. At least a part of the surface of the movable body is covered with a coating, and when the movable body moves within the pipe, the covered portion moves while being in contact with the inner wall of the pipe. The pipe moving device according to item 1. 7. The coating of the movable body is impregnated with a lubricant, and when the movable body moves within the pipe, the movable body moves while appropriately producing lubrication between the inner wall surface of the pipe and the movable body. The pipe moving device according to scope 6. 8. A part of the movable body is provided with a plurality of rotating supports, and when the movable body moves within the pipe, the wall surface inside the pipe and the main body of the movable body are directly connected at any position of the movable body. 9. An intra-pipe moving device (9) according to claim 1, characterized in that the pipe is guided by the rotary support while preventing contact with the moving body, and detecting materials are provided at regular intervals on the surface of the moving body; Claim 1, characterized in that the movable body is equipped with a sensor and a detection circuit capable of detecting the detection material while the movable body is moving, and moves while confirming the moving distance or position of the movable body. A device for moving inside piping. 10. The pipe moving device according to claim 1, wherein the moving body has a hollow structure, and equipment necessary for work can be supplied from the hollow part of the moving body. 11. A long moving body made of an elastic and moderately flexible material is continuously inserted into the p1 piping by a feeding unit that can hold the moving body and continuously feed and recover it automatically. A moving body moves within the pipe while supplying the wire to the pipe, and when the moving body moves, the wire material to be passed through the pipe is moved together with the moving body for wiring. How to work inside piping. 12. A method for working inside a pipe using the pipe moving device according to claim 11, characterized in that wiring is performed while checking the position, speed, etc. of the movable body within the pipe using a monitoring device. 13. A long moving body made of an elastic and moderately flexible material is continuously inserted into the piping by a feeding unit that can hold the moving body and continuously feed it automatically and recover it. A movable body moves inside the pipe while feeding, this movable body is once moved to the pipe outlet, the wire material is connected to the movable body that has come out to the pipe outlet, and then the movable body is moved from inside the pipe to the original position. A method for working inside a pipe using an inside-pipe moving device, characterized in that a wired material is wired inside the pipe by returning it. 14. A method for working inside a pipe using the pipe moving device according to claim 13, characterized in that wiring is performed while checking the position, speed, etc. of the movable body within the pipe using a monitoring device. 15. A feeding unit that holds a long moving body made of an elastic and moderately flexible material and can continuously feed and recover the moving body, and continuously install it inside the piping. A movable body moves within the piping while supplying and collecting the movable body, and a working device is provided at the tip of the movable body, and the working device performs inspection and repair work at any position within the piping by the movement of the movable body. A method for working inside a pipe using a moving device inside a pipe, characterized by: 16. Claim 15, characterized in that the operation of the work equipment is controlled by a control device, and the start of work of the work equipment, data confirmation, collection, etc. are performed by a monitoring device.
A method for working inside a pipe using the pipe moving device described in 2. 17. A sensor and a pig equipped with the sensor are installed at the tip of the moving body as the work equipment, and after confirming and measuring the position of the branch in the pipe, the sealing material is sealed, and then the sealing material is sealed from above the sealing material. A pig equipped with a sensor capable of sensing branch points and a pig for drilling are fed into the pipe.
A method for working inside a pipe using the pipe moving device according to claim 15, characterized in that after accurately sensing the branch part, the branch part is drilled with the hole-drilling vig. . 18. The above-mentioned sensor-equipped pig and hole-drilling vig can be used to apply a sealant without using a sensor before sealing with a sealant, and then directly detect the hole position and drill the hole. A method for working inside a pipe using the pipe moving device according to claim 17.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP58175854A JPS6069393A (en) | 1983-09-22 | 1983-09-22 | Piping inside shifter and piping inside working method using piping inside shifter |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP58175854A JPS6069393A (en) | 1983-09-22 | 1983-09-22 | Piping inside shifter and piping inside working method using piping inside shifter |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| JPS6069393A true JPS6069393A (en) | 1985-04-20 |
| JPH0434040B2 JPH0434040B2 (en) | 1992-06-04 |
Family
ID=16003358
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| JP58175854A Granted JPS6069393A (en) | 1983-09-22 | 1983-09-22 | Piping inside shifter and piping inside working method using piping inside shifter |
Country Status (1)
| Country | Link |
|---|---|
| JP (1) | JPS6069393A (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2011147293A (en) * | 2010-01-15 | 2011-07-28 | Chugoku Electric Power Co Inc:The | Cable passing apparatus |
| JP2019117102A (en) * | 2017-12-27 | 2019-07-18 | アズビル株式会社 | Installation method of temperature sensor and temperature sensor with fixing mechanism |
-
1983
- 1983-09-22 JP JP58175854A patent/JPS6069393A/en active Granted
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2011147293A (en) * | 2010-01-15 | 2011-07-28 | Chugoku Electric Power Co Inc:The | Cable passing apparatus |
| JP2019117102A (en) * | 2017-12-27 | 2019-07-18 | アズビル株式会社 | Installation method of temperature sensor and temperature sensor with fixing mechanism |
Also Published As
| Publication number | Publication date |
|---|---|
| JPH0434040B2 (en) | 1992-06-04 |
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