Pipe manufacturing system

Abstract

To reduce the need for manual work inside the pipes when rehabilitating them. [Solution] A pipe manufacturing system 1 that can install a covering material spirally on the inner surface of a pipe, comprising: a pull-in device 6 that can pull in the covering material from a supply source of the covering material; a discharge device 7 that can send out the covering material pulled in by the pull-in device 6 toward the inner surface of the pipe; a guide device 8 that guides the covering material pulled in by the pull-in device 6 to the discharge device 7; a central member 31 that is rotationally driven around a predetermined rotation axis and radially supports the pull-in device 6, the discharge device 7, and the guide device 8 around the rotation axis; and a support unit 2 that has a drive mechanism for rotationally driving the central member 31 and cantilever-supports the central member 31, wherein the central member 31 supports the pull-in device 6 on the far end side and the discharge device 7 on the base end side.

Description

Technical Field

[0001] The present invention relates to a pipe manufacturing system in which a coating material is installed in a conduit to form a pipe.

Background Art

[0002] As a method for rehabilitating a conduit, a method of installing a coating material on the inner surface of the conduit to form a new pipe has been conventionally known. For example, Japanese Patent No. 7071212 (Patent Document 1) and Japanese Unexamined Patent Application Publication No. 2012-976 (Patent Document 2) disclose an apparatus and a method used for this rehabilitation method.

Prior Art Documents

Patent Documents

[0003]

Patent Document 1

Patent Document 2

Summary of the Invention

Problems to be Solved by the Invention

[0004] Conventional technologies including the inventions described in Patent Document 1 and Patent Document 2 all required a lot of artificial operations in the conduit. Since artificial operations in a narrow conduit were required, it was difficult to efficiently rehabilitate the conduit.

[0005] Therefore, it is desired to reduce the necessity of artificial operations in the conduit when rehabilitating the conduit.

Means for Solving the Problems

[0006] The pipe manufacturing system according to the present invention is a pipe manufacturing system that can install a covering material in a spiral manner on the inner surface of a pipe, and comprises: a pull-in device that can pull in the covering material from a supply source of the covering material; a discharge device that can discharge the covering material pulled in by the pull-in device toward the inner surface of the pipe; a guide device that guides the covering material pulled in by the pull-in device toward the discharge device; a central member that is rotationally driven around a predetermined rotation axis and radially supports the pull-in device, the discharge device, and the guide device around the rotation axis; and a support unit that has a drive mechanism for rotationally driving the central member and cantilever-supports the central member, wherein the central member supports the pull-in device on its far end side and the discharge device on its base end side.

[0007] This configuration allows the pipe manufacturing system to pull in and send out the covering material, thereby reducing the need for manual work inside the pipe when rehabilitating it.

[0008] Preferred embodiments of the present invention will be described below. However, the scope of the present invention is not limited by the examples of preferred embodiments described below.

[0009] In one embodiment, the pipe-making system according to the present invention preferably has at least one of the drawing device and the delivery device having at least two drums that sandwich the covering material and at least two drive units that drive each of the two drums.

[0010] This configuration makes it easier to increase the output of the pull-in and send-out devices, thus facilitating the smooth pull-in and send-out of the covering material.

[0011] In one embodiment of the pipe manufacturing system according to the present invention, it is preferable that the covering material has irregularities on at least one surface, and that of the two drums, the drum in contact with the surface of the covering material having irregularities has irregularities of a shape corresponding to the irregularities.

[0012] This configuration makes it easier to suppress deformation and damage to the covering material caused by contact with the drum.

[0013] In one embodiment of the pipe-making system according to the present invention, it is preferable that at least one of the two drums has a rough surface.

[0014] This configuration suppresses slippage between the drum and the covering material, making it easier to smoothly retract and feed out the covering material.

[0015] In one embodiment, the pipe manufacturing system according to the present invention preferably comprises at least two of the aforementioned dispensing devices.

[0016] This configuration makes it easier to increase the output of the dispensing device, thus facilitating the smooth dispensing of the covering material.

[0017] In one embodiment, the pipe-making system according to the present invention preferably comprises a guide device having at least a first drum and a second drum that sandwich the covering material, wherein the first drum has a larger diameter at the center in the width direction than at the ends in the width direction, and the second drum has a smaller diameter at the center in the width direction than at the ends in the width direction.

[0018] With this configuration, the drum has a shape that follows the deformation of the covering material it guides, making it easier to suppress deformation and damage to the covering material caused by contact with the drum.

[0019] In one embodiment of the pipe-making system according to the present invention, it is preferable that at least one of the first drum and the second drum is divided into a plurality of elements in the width direction.

[0020] This configuration makes it easier to form a drum that conforms to the deformation of the covering material.

[0021] The pipe manufacturing system according to the present invention, in one aspect, the coating material includes a first coating material and a second coating material that are installed in an alternating spiral pattern and can be fitted to each other. The drawing-in device includes a first drawing-in device capable of drawing in the first coating material and a second drawing-in device capable of drawing in the second coating material. The feeding device includes a first feeding device capable of feeding the first coating material onto the inner surface of the pipe channel and a second feeding device capable of feeding the second coating material onto the inner surface of the pipe channel. The guiding device preferably includes a first guiding device capable of guiding the first coating material and a second guiding device capable of guiding the second coating material.

[0022] According to this configuration, the pipe manufacturing system according to the present invention can be applied to a pipe rehabilitation method in which two types of coating materials are installed in an alternating spiral pattern. The pipe rehabilitation method using two types of coating materials has been widely implemented conventionally as described in, for example, Patent Document 1, and the benefit of applying the present invention thereto is great.

[0023] The pipe manufacturing system according to the present invention, in one aspect, the support unit preferably has a traveling device capable of traveling in the pipe channel, and the central member is supported by the support unit behind the traveling direction of the traveling device.

[0024] According to this configuration, construction can be advanced while advancing the pipe manufacturing system in the pipe channel.

[0025] Further features and advantages of the present invention will become more apparent from the following description of exemplary and non-limiting embodiments described with reference to the drawings.

Brief Description of the Drawings

[0026] [Figure 1] It is a side view of the pipe manufacturing system according to the embodiment. [Figure 2] It is a front view of the pipe manufacturing system according to the embodiment. [Figure 3] It is a block diagram showing the control system of the pipe manufacturing system according to the embodiment. [Figure 4]This is a front view of the first pipe-making device of the pipe-making system according to the embodiment. [Figure 5] This is a front view of the second pipe-in ​​device of the pipe manufacturing system according to the embodiment. [Figure 6] This is a front view of the first guide member of the pipe manufacturing system according to the embodiment. [Figure 7] This is a front view of the second guide member of the pipe manufacturing system according to the embodiment. [Figure 8] This is a front view of the fitting roller of the pipe manufacturing system according to the embodiment. [Figure 9] This diagram shows the arrangement of the evaluation unit of the pipe manufacturing system according to the embodiment. [Figure 10] This is a plan view of the slip ring of the pipe manufacturing system according to the embodiment. [Figure 11] This is a cross-sectional view of the covering material according to the embodiment. [Figure 12] This is a cross-sectional view showing the positional relationship between the step sensor and the covering material in the pipe manufacturing system according to the embodiment. [Figure 13] This diagram shows the path of the covering material when carrying out the pipe manufacturing method according to the embodiment. [Modes for carrying out the invention]

[0027] Embodiments of the pipe manufacturing system according to the present invention will be described with reference to the drawings. Below, an example will be described in which the pipe manufacturing system according to the present invention is applied to pipe manufacturing system 1, which manufactures resin pipes for the inner surface of a pipe buried underground.

[0028] [Configuration of the pipe manufacturing system] (overview) The pipe manufacturing system 1 comprises a traveling unit 2 (an example of a support unit), a pipe manufacturing unit 3, an evaluation unit 4, and a control unit 5 (Figures 1 to 3). The traveling unit 2 is a unit that can travel inside a pipe. The pipe manufacturing unit 3 is a unit that installs a covering material 10 on the inner surface of the pipe and is cantilevered by the traveling unit 2. The covering material 10 consists of two types of covering materials, strips 11 and joiners 12, both of which are strip-shaped members made of resin. In general, the pipe manufacturing system 1 travels inside the pipe by the action of the traveling unit 2, and the pipe manufacturing unit 3 installs the strips 11 and joiners 12 in an alternating spiral pattern to manufacture a resin pipe.

[0029] In normal operation, the pipe-making system 1 travels through the conduit with the travel unit 2 at the front and the pipe-making unit 3 at the rear. In Figure 1, the right side of the page is the front and the left side is the rear. In the following explanation, when referring to the front-rear direction, the definition above applies unless otherwise specified. Also, when referring to the left-right direction in the following explanation, it refers to left and right as viewed from the rear to the front, according to the definition above.

[0030] As mentioned above, the strip 11 and joiner 12 are strip-shaped members, and their length (longitudinal direction) and width (short direction) can be observed. Figure 11 shows a cross-sectional view of the strip 11 and joiner 12 in the width direction. Figure 11 shows adjacent strips 11A and 11B connected by the joiner 12. Here, strips 11A and 11B refer to two adjacent parts of the spirally installed strip 11, corresponding to two helical periods. When referring to the front and back of the strip 11 and joiner 12, the side that is exposed when installed on the inner surface of the pipe is called the front, and the opposite side is called the back. In Figure 11, the top of the paper is the front side, and the bottom of the paper is the back side. In Figure 11, the surface of the strip 11 and joiner 12 faces the top of the paper, and the back side faces the bottom of the paper.

[0031] The strip 11 has fitting projections 13 extending in the extension direction at both ends in the width direction on its back surface. The joiner 12 has fitting recesses 14 extending in the extension direction at both ends in the width direction on its front surface. The strip 11 and the joiner 12 are connected by fitting the fitting projections 13 and the fitting recesses 14 together. A central groove 15 extending in the extension direction is provided in the center of the front surface of the joiner 12 in the width direction. Multiple parallel grooves 16 extending in the extension direction are provided on the back surface of the strip 11. After fitting, the boundary 17 (17A, 17B) between the strip 11 and the joiner 12 can be seen.

[0032] A supply source (not shown) for supplying the covering material 10 to the pipe-making system 1 is installed on the rear side of the pipe-making system 1, i.e., on the opposite side of the pipe-making unit 3 from the traveling unit 2. The supply source is typically installed in a shaft (not shown) dug from the ground for access to the construction site. The configuration of the supply source is not limited, but examples include a configuration in which drums around which the strips 11 and joiners 12 are wound are rotatably supported.

[0033] (Running unit) The travel unit 2 includes a main body 21 to which the various components of the travel unit 2 are connected and which supports the pipe-making unit 3, a crawler 22 provided below the main body 21, auxiliary wheels 23 provided above the main body 21, a travel drive device 24 capable of driving the crawler 22, a rotation drive device 25 capable of rotating the pipe-making unit 3, and a tilt sensor 26 (Figures 1 to 3).

[0034] The travel unit 2 has one crawler 22 and one travel drive unit 24 on each side (Figure 2). The two crawlers 22A and 22B are driven by travel drive units 24A and 24B, respectively. The operation of the two travel drive units 24A and 24B is controlled independently of each other. The travel drive unit 24 is not limited to being a drive unit, but could be a motor, for example.

[0035] On the other hand, there is no drive device to drive the auxiliary wheels 23. However, the auxiliary wheels 23 have a spring 23a that biases them upward. Due to the action of the spring 23a, the running unit 2 runs with the auxiliary wheels 23 in contact with the upper inner surface of the pipe. The pipe manufacturing system 1 has a structure in which the running unit 2 cantileveres the pipe manufacturing unit 3, and has a weight balance that makes it prone to tipping over towards the pipe manufacturing unit 3 side, but the auxiliary wheels 23 making contact with the upper inner surface of the pipe makes the pipe manufacturing system 1 less likely to tip over.

[0036] The main body 21 has a connecting member 21a at its rear, and this connecting member 21a is connected to the pipe-making unit 3. In this way, the traveling unit 2 (main body 21) supports the pipe-making unit 3. The rotational drive device 25 rotates the connecting member 21a, thereby causing the pipe-making unit 3 to rotate. The rotational drive device 25 has a motor 25a and a chain 25b, and the power from the motor 25a is transmitted to the connecting member 21a via the chain 25b.

[0037] The connecting member 21a may include a universal joint. This configuration is preferable because it makes it easier for the pipe manufacturing system 1 to travel along the curved sections of the pipe.

[0038] The tilt sensor 26 is a sensor that detects the tilt of the travel unit 2, and as hardware, it can be a known tilt sensor. The tilt sensor 26 is mounted on the main body 21 and can detect the tilt of the main body 21 (i.e., the tilt of the travel unit 2). If the travel unit 2 is tilted, the outputs of the two travel drive units 24A and 24B should be adjusted to restore the posture of the travel unit 2.

[0039] (Pipe manufacturing unit) The pipe-making unit 3 includes a central member 31 supported by the traveling unit 2, a pull-in device 6 (first pull-in device 61, second pull-in device 62) for pulling in the covering material 10 from a supply source, an installation device 7 for installing the covering material 10 on the inner surface of the pipe, and guide members 8 (first guide member 81, second guide member 82) for guiding the covering material 10 pulled in by the pull-in device 6 from the supply source. The strip 11 is pulled in by the first pull-in device 61, guided by the first guide member 81, and installed by the installation device 7. The joiner 12 is pulled in by the second pull-in device 62, guided by the second guide member 82, and installed by the installation device 7. The components of the pipe-making unit 3 other than the central member 31 are supported radially by the central member 31. The components of the evaluation unit 4 are also supported radially by the central member 31.

[0040] The first retraction device 61 is a device that retracts the strip 11 from the supply source and has two drums 63 (outer drum 63a, inner drum 63b) (Figure 4). The two drums 63 (outer drum 63a, inner drum 63b) are independently driven by motors 64 (outer motor 64a, inner motor 64b) provided for each. With the strip 11 sandwiched between the two drums 63, the first retraction device 61 drives the two motors 64 to rotate the two drums 63 and retracts the strip 11 from rear to front. The mechanical configuration of the first retraction device 61 and the first delivery device 71 are the same, and a total of three units are provided. Of these, the unit at the far end is designated as the first retraction device 61, and the two units at the base end are designated as the first delivery device 71.

[0041] The outer drum 63a has an uneven surface. The shape of this uneven surface corresponds to the unevenness of the parallel grooves 16 on the back surface of the strip 11. In addition, the surface of the outer drum 63a is knurled. Due to this uneven surface and knurling, the friction between the outer drum 63a and the strip 11 is increased, making it easier for the driving force of the outer motor 64a to be transmitted to the strip 11 via the outer drum 63a. On the other hand, the surface of the inner drum 63b is smooth. Since the inner drum 63b is in contact with the surface of the strip 11, the smooth surface of the inner drum 63b makes it less likely for scratches to occur on the surface of the strip 11.

[0042] The second pull-in device 62 is a device that pulls the joiner 12 from the supply source and has two drums 65 (outer drum 65a, inner drum 65b) (Figure 5). The two drums 65 (outer drum 65a, inner drum 65b) are independently driven by motors 66 (outer motor 66a, inner motor 66b) provided for each. With the joiner 12 sandwiched between the two drums 65, the second pull-in device 62 drives the two motors 66 to rotate the two drums 65 and pulls the joiner 12 from rear to front. The mechanical configuration of the second pull-in device 62 and the second discharge device 72 is the same, and a total of three units are provided. Of these, the unit at the far end is the second pull-in device 62, and the two units at the base end are the second discharge device 72.

[0043] The surface of the outer drum 65a is knurled (an example of a rough surface). This knurling increases the friction between the outer drum 65a and the joiner 12, making it easier for the driving force of the outer motor 66a to be transmitted to the joiner 12 via the outer drum 65a. On the other hand, the surface of the inner drum 65b is smooth. Since the inner drum 65b is in contact with the surface of the joiner 12, the smooth surface of the inner drum 65b makes it less likely for scratches to occur on the surface of the joiner 12.

[0044] The first guide member 81 is a member that guides the strip 11 that the first pull-in device 61 has pulled in from the supply source (Figure 6). In this embodiment, five first guide members 81 are provided. Each first guide member 81 has two drums 83 (outer drum 83a, inner drum 83b) and guides the strip 11 between the two drums 83. In this embodiment, the first guide member 81 does not have a motor or other device to drive the drums 83.

[0045] The outer drum 83a is divided in the width direction into three small drums 84 (84a, 84b, 84c) (this is an example of multiple elements). Of these, the left and right small drums 84a and 84c are frustoconical in shape, with the outer diameter in the width direction being larger than the inner diameter in the width direction, while the central small drum 84b is cylindrical with a substantially constant diameter. The inner drum 83b is divided in the width direction into three small drums 85 (85a, 85b, 85c). Of these, the left and right small drums 85a and 85c are frustoconical in shape, with the outer diameter in the width direction being smaller than the inner diameter in the width direction, while the central small drum 85b is cylindrical with a substantially constant diameter. When the strip 11 guided by the first guide member 81 is subjected to stress and bends inward, the two drums 83 are configured to each have three small drums 84 and 85 of different shapes, so that the two drums 83 follow the curvature of the strip 11. This allows the strip 11 to be guided smoothly.

[0046] The second guide member 82 is a member that guides the joiner 12 that the second pull-in device 62 has pulled in from the supply source (Figure 7). In this embodiment, four second guide members 82 are provided. Each second guide member 82 has two drums 86 (outer drum 86a, inner drum 86b) and guides the joiner 12 between the two drums 86. In this embodiment, the second guide member 82 does not have a motor or other device to drive the drums 86.

[0047] The installation device 7 is a device for installing the strips 11 and joiners 12 on the inner surface of the pipe, and includes a first delivery device 71 (71A, 71B), a second delivery device 72, and fitting rollers 73 (73A, 73B). The role of the installation device 7 is to arrange the strips 11 in a spiral shape, to position the joiners 12 between two adjacent spiral periods of the strips 11, and to fit the strips 11 and the joiners 12 together.

[0048] The first delivery device 71 is a device that sends the strip 11 toward the inner surface of the conduit. The mechanical configuration of the first delivery device 71 is the same as that of the first pull-in device 61. The strip 11 is pulled in by the first pull-in device 61, guided by the first guide member 81, and travels in the same direction as the pipe-making system 1 until it reaches the first delivery device 71. However, the direction of travel of the strip 11 sent out by the first delivery device 71 includes a directional component toward the inner surface of the conduit (radially outward component of the conduit) as well as a directional component toward the rear in the direction of travel of the pipe-making system 1. In other words, the first delivery device 71 reverses the direction of travel of the strip 11 and sends it toward the inner surface of the conduit. Because this involves reversing the direction of travel of the strip 11, it requires more power than in the case without this reversal, but this is achieved by providing two first delivery devices 71.

[0049] The second discharge device 72 is a device that discharges the joiner 12 toward the inner surface of the pipe. The mechanical configuration of the second discharge device 72 is the same as that of the second pull-in device 62. Just as the first discharge device 71 reverses the direction of travel of the strip 11, the second discharge device 72 also reverses the direction of travel of the joiner 12.

[0050] The strip 11, fed out by the first feeding device 71, and the joiner 12, fed out by the second feeding device 72, are arranged in an alternating spiral pattern on the inner surface of the pipe. Therefore, the joiner 12 is positioned between two adjacent portions of the strip 11 corresponding to two spiral periods. In this arrangement, when the joiner 12 is pressed towards the strip 11, the fitting projection 13 of the strip 11 and the fitting recess of the joiner 12 engage, connecting the strip 11 and the joiner 12.

[0051] The fitting rollers 73 (73A, 73B) are devices that press the joiner 12 toward the strip 11, pressing the joiner 12 in the order of fitting rollers 73A and 73B. In a typical situation, the fitting roller 73A completes the fitting of the strip 11 and the joiner 12, and the fitting roller 73B presses again to ensure the fitting is secure. The fitting roller 73 has a roller member 74 that contacts the strip 11 and the joiner 12, and a piston 75 that moves the roller member 74 back and forth in the radial direction of the pipe (Figure 8). As the piston 75 extends, the roller member 74 presses the joiner 12 toward the strip 11, thereby connecting the strip 11 and the joiner 12.

[0052] Each part of the pipe-making unit 3 (the pull-in device 6, the installation device 7, and the guide member 8) operates when the pipe-making system 1 is traveling forward in the direction of travel and the pipe-making unit 3 itself is rotating by the rotational drive device 25. In other words, each part of the pipe-making unit 3 operates while moving along a spiral trajectory resulting from the combination of the movement of the pipe-making system 1 and the rotation of the pipe-making unit 3. Therefore, the pipe-making unit 3 moves by pulling in the covering material 10 supplied from the supply source in a spiral manner and then sending it out in a spiral manner. In this way, the pipe-making unit 3 can install the strips 11 and joiners 12 alternately in a spiral manner on the inner surface of the pipe.

[0053] (Evaluation unit) The evaluation unit 4 is a unit that can evaluate the installation state of the covering material 10 installed on the inner surface of the pipe by the installation device 7 (Figure 9). The evaluation unit 4 has a distance measuring sensor 41, a central groove sensor 42, and a step sensor 43. As described above, the components of the evaluation unit 4 are radially supported by the central member 31 of the pipe manufacturing unit 3.

[0054] The distance measuring sensor 41 is a sensor that measures the distance between itself and an object, and may be, for example, a laser displacement sensor. The distance measuring sensor 41 independently measures the distance from the first delivery device 71B to the strip 11 before it reaches the inner surface of the pipe, and the distance from the second delivery device 72 to the joiner 12 before it reaches the inner surface of the pipe.

[0055] The strip 11, fed out from the first feeder 71B, is installed in the conduit by the fitting roller 73A pressing the joiner 12 against it. Therefore, the strip 11 that is fed out from the first feeder 71B and before reaching the inner surface of the conduit is the strip 11 that lies between the first feeder 71B and the fitting roller 73A. Here, the first feeder 71B, the fitting roller 73A, and the distance sensor 41 are all supported by the central member 31 of the pipe manufacturing unit 3, so their relative positions are approximately constant (the extension and contraction of the piston 75 can be substantially ignored). Therefore, the relative position of the distance sensor 41 and the strip 11 that lies between the first feeder 71B and the fitting roller 73A depends on the length of the strip 11.

[0056] Here, considering the balance of the strip 11 between the first delivery device 71B and the fitting roller 73A, there is supply by the first delivery device 71B and consumption for installation by the fitting roller 73A. The supply speed of the strip 11 depends on the operating speed of the first pull-in device 61 and the first delivery device 71, and the consumption speed of the strip 11 depends on the moving speed of the fitting roller 73A, i.e., the rotational speed of the pipe-making unit 3.

[0057] When the balance of the strip 11 is maintained between the first delivery device 71B and the fitting roller 73A, the length of the strip 11 does not change, and therefore the distance measured by the distance measuring sensor 41 does not change. In this case, it can be determined that the relative relationship between the operating speed of the first pull-in device 61 and the first delivery device 71 and the rotational speed of the pipe-making unit 3 is appropriate.

[0058] If there is an excess supply of strip 11 between the first feeder 71B and the fitting roller 73A, the length of the strip 11 will gradually increase, and the distance measured by the distance measuring sensor 41 will gradually increase. In this case, it can be determined that the operating speed of the first pull-in device 61 and the first feeder 71 is excessive compared to the rotational speed of the pipe-making unit 3. In this case, it is advisable to balance the supply and demand of strip 11 by reducing the operating speed of the first pull-in device 61 and the first feeder 71 or by increasing the rotational speed of the pipe-making unit 3.

[0059] If there is insufficient supply of the strip 11 between the first delivery device 71B and the fitting roller 73A, the length of the strip 11 will gradually decrease, and the distance measured by the distance measuring sensor 41 will gradually decrease. In this case, it can be determined that the rotational speed of the pipe-making unit 3 is excessive compared to the operating speed of the first pull-in device 61 and the first delivery device 71. In this case, it is advisable to balance the supply and demand of the strip 11 by increasing the operating speed of the first pull-in device 61 and the first delivery device 71, or by decreasing the rotational speed of the pipe-making unit 3.

[0060] As described above, the relationship between the supply and demand state of the strip 11 and the distance measured by the distance measuring sensor 41 has been explained, and a similar relationship also holds between the supply and demand state of the joiner 12 and the distance measured by the distance measuring sensor 41.

[0061] The central groove sensor 42 is a laser displacement sensor that measures the covering material 10 after it has been installed in the conduit by the fitting roller 73A and before it is pressed down again by the fitting roller 73B. The central groove sensor 42 irradiates a laser onto a linear region extending in the width direction between two adjacent strips 11A and 11B and the joiner 12, and identifies the shape of the linear region based on the reflected light. This region contains, in this order, the boundary 17A between strip 11A and joiner 12, the central groove 15 of the joiner 12, and the boundary 17B between strip 11B and joiner 12.

[0062] When the central groove 15 detected by the central groove sensor 42 is near the center of the measurement area, it can be determined that the relative relationship between the travel speed of the pipe-making system 1 and the speed at which the covering material 10 is installed is appropriate. On the other hand, when the central groove 15 is outside the center of the measurement area, it can be determined that either the travel speed of the pipe-making system 1 or the speed at which the covering material 10 is installed is excessive for both. In this case, it is advisable to adjust either or both of the travel speed of the travel unit 2 and the rotation speed of the pipe-making unit 3.

[0063] As described above, since the distance measuring sensor 41 and the central groove sensor 42 perform measurements by irradiating with a laser, there is a risk that accurate measurements cannot be performed if the optical path to the covering material 10 being measured is obstructed. For example, if water is present in the pipe and the covering material 10 being measured is below the water surface, the reliability of the measurement is questionable. Therefore, adjustments to the balance of the strip 11 and joiner 12 based on the measurement of the distance measuring sensor 41, and adjustments to the travel speed and rotation speed based on the measurement of the central groove sensor 42, are performed only when the parts of these sensors being measured are above the water surface. Whether or not the parts being measured are above the water surface can be determined, for example, based on the angular position of the distance measuring sensor 41 and the central groove sensor 42, and such angular positions can be determined by monitoring the operation of the rotation drive device 25, etc.

[0064] The step sensor 43 is a sensor that measures the height of the step at the fitting portion of the covering material 10 (strip 11 and joiner 12) installed on the inner surface of the pipe by the fitting roller 73. The step sensor 43 measures the covering material 10 immediately after the fitting roller 73B is pressed against it. The step sensor 43 is not limited as long as it is a sensor that can detect the height of the step on the surface to be measured, and can be a laser type sensor, contact type sensor, for example. Here, the case where the step sensor 43 is a contact type sensor will be explained as an example.

[0065] The step sensor 43 measures the covering material 10 immediately after it has been installed in the conduit by the fitting roller 73B, and has four contact sensors 43a, 43b, 43c, and 43d that are in contact with the linear region extending in the width direction between two adjacent strips 11A, 11B and the joiner 12 (Figure 12). The contact sensors 43a and 43b are in contact with the strip 11A and the joiner 12 across the boundary 17A. The contact sensors 43c and 43d are in contact with the strip 11B and the joiner 12 across the boundary 17B. The height of the step at boundary 17A can be determined from the measurements of the contact sensors 43a and 43b, and the height of the step at boundary 17B can be determined from the measurements of the contact sensors 43c and 43d.

[0066] If the height of the step difference at boundary 17A and boundary 17B is below a predetermined threshold, it can be determined that the fitting between the strip 11 and the joiner 12 is correct. On the other hand, if the height of the step difference at at least one of boundary 17A and boundary 17B exceeds a predetermined threshold, it can be determined that the joiner 12 is floating away from the strip 11, and the fitting between the strip 11 and the joiner 12 is not correct. In this case, it is advisable to reverse the operation of the pipe manufacturing system 1 to return it to the position where the fitting is correct, and then perform a corrective operation by running the pipe manufacturing system 1 forward again to re-fit the parts.

[0067] While the reliability of the distance sensor 41 and the central groove sensor 42 for measurements underwater is questionable, the step sensor 43 employs a measurement principle based on physical contact, thus offering high measurement reliability even when the covering material 10 being measured is submerged. Therefore, it is possible to determine whether or not the covering material 10 is fitted, regardless of its relative position to the water surface.

[0068] (Control unit) The control unit 5 is a unit that controls each part of the pipe manufacturing system 1. The control unit 5 can be a known control device such as a microcontroller or a programmable logic controller.

[0069] The control unit 5 is supported by the travel unit 2, and the pipe manufacturing system 1 includes a slip ring 9 that electrically connects the pipe manufacturing unit 3 and the control unit 5 (Figures 3 and 10). The slip ring 9 has brush contacts 91 on the travel unit 2 and control unit 5 sides, and ring contacts 92 on the pipe manufacturing unit 3 and evaluation unit 4 sides. The brush contacts 91 and ring contacts 92 are configured to slide against each other, so that even when the pipe manufacturing unit 3 rotates, the brush contacts 91 and ring contacts 92 make contact without the wiring becoming entangled. This ensures that the electrical connection between the travel unit 2 and the pipe manufacturing unit 3 is compatible with the rotation of the pipe manufacturing unit 3. In addition to the control unit 5, which controls the travel unit 2 and the pipe manufacturing unit 3, being supported by the travel unit 2, the power supply (not shown) for the pipe manufacturing system 1 is connected to the travel unit 2. The travel unit 2 and the pipe manufacturing unit 3 are electrically connected via the slip ring 9, enabling the supply of power to the pipe manufacturing unit 3 and the exchange of control signals.

[0070] The control of the travel unit 2 includes controlling its travel speed and tilt. Specifically, these controls are performed by controlling the output of the two travel drive units 24A and 24B. If the position of the central groove 15 detected by the central groove sensor 42 indicates that it is necessary to adjust the balance between the travel speed of the travel unit 2 and the rotation speed of the pipe-making unit 3, the travel speed of the travel unit 2 is increased or decreased. In this case, the output of the two travel drive units 24A and 24B is similarly increased or decreased. Furthermore, if the tilt sensor 26 detects a tilt of the travel unit 2, control is performed to restore the posture of the travel unit 2. In this case, the balance of the output of the two travel drive units 24A and 24B is adjusted (this is an example of posture control function).

[0071] The control of the pipe-making unit 3 is performed to ensure an appropriate supply and demand of the covering material 10. Specifically, the outputs of the rotary drive unit 25 that rotates the pipe-making unit 3, the pull-in device 6 that pulls in the covering material 10, and the installation device 7 that installs the covering material 10 are controlled. If the distance between itself and the covering material 10 measured by the distance measuring sensor 41 determines that there is a surplus or deficit in the supply and demand of the covering material 10, the control system adjusts the rotation speed of the pipe-making unit 3 (output of the rotary drive unit 25) and the installation speed of the covering material 10 (output of the pull-in device 6 and installation device 7) by appropriately combining these controls to optimize the supply and demand of the covering material 10.

[0072] Furthermore, control is performed on both the travel unit 2 and the pipe-making unit 3 to ensure proper fitting of the covering material 10. Specifically, when the step sensor 43 detects a step difference between the strip 11 and the joiner 12, the pipe-making system 1 is reversed to return to the position where the fitting is correct, and then the pipe-making system 1 is reversed again to perform a corrective operation to redo the fitting. The degree to which the pipe-making system 1 is reversed is arbitrary, but it could be, for example, to the extent that the pipe-making unit 3 is rotated in the reverse direction by 180°.

[0073] These controls are performed based on the results of detection, evaluation, etc., by the tilt sensor 26 and the evaluation unit 4. In addition to controls based on the measured values ​​of these instruments, controls may also be performed based on arbitrary parameters set by the user of the pipe-making system 1. For example, the movement of the travel unit 2 may be controlled to achieve a travel speed value specified by the user, and the operation of the pipe-making unit 3 may be controlled so that the covering material 10 can be properly installed at this travel speed.

[0074] [Pipe manufacturing method] Next, a method for manufacturing resin pipes for the inner surface of a conduit using the pipe manufacturing system 1 according to this embodiment will be described.

[0075] The pipe manufacturing method using the pipe manufacturing system 1 comprises a pull-in step in which the covering material 10 is pulled in from a supply source of the covering material 10, and a discharge step in which the covering material 10 pulled in during the pull-in step is sent out toward the inner surface of the pipe. Figure 13 is a diagram showing the positional relationship between the pipe manufacturing system 1 and the covering material 10 during construction, using a vertical cross-sectional view of the pipe manufacturing system 1 and the pipe. In the following description, for distinction, the covering material 10 (strip 11, joiner 12) in the pull-in step will be denoted by the symbol X, and the covering material 10 (strip 11, joiner 12) in the discharge step will be denoted by the symbol Y. The direction of travel of the covering material 10X in the pull-in step is forward (rightward in Figure 13), and the direction of travel of the covering material 10Y in the discharge step is backward (leftward in Figure 13). That is, the direction of travel of the covering material 10 is opposite in the pull-in step and the discharge step.

[0076] In the dispensing process, the coating material 10 is arranged spirally on the inner surface of the pipe, forming a resin pipe. The spiral of the coating material 10 extends in the same direction as the direction of travel of the pipe manufacturing system 1. As mentioned above, since the supply source for the coating material 10 is located at the rear of the pipe manufacturing system 1, it can be said that the supply source is located at the rear in the direction of extension of the spiral of the coating material 10.

[0077] The strip 11X, pulled in from the rear (left side in Figure 13) by the first pull-in device 61, is guided by the first guide member 81 along a spiral path to the first discharge device 71. The first discharge device 71A (not shown in Figure 13) and the first discharge device 71B discharge the strip 11Y spirally toward the inner surface of the pipe. At this time, the spiral path of the strip 11X in the pull-in process is located inside the spiral path of the strip 11Y in the discharge process. Similarly, the joiner 12X is pulled in by the second pull-in device 62, and the joiner 12Y is discharged by the second discharge device 72. For the joiner 12 as well, the spiral path of the joiner 12X in the pull-in process is located inside the spiral path of the joiner 12Y in the discharge process. In this way, in the longitudinal cross-section of the pipe, the path of the covering material 10 in the discharge process is located outside the path of the covering material 10X in the pull-in process. Furthermore, as shown in Figure 13, in the longitudinal section of the pipe, the path of the joiner 12X is arranged outside the path of the strip 11X in the pull-in process.

[0078] [Other Embodiments] Finally, other embodiments of the pipe manufacturing system according to the present invention will be described. Note that the configurations disclosed in each of the following embodiments can be applied in combination with configurations disclosed in other embodiments, provided that no inconsistencies arise.

[0079] In the above embodiment, a configuration was described as in which the pipe manufacturing system 1 is equipped with a traveling unit 2 and is capable of traveling inside the pipe. However, in the present invention, it is optional whether or not the support unit has a traveling function. In other words, the present invention may be a pipe manufacturing unit that does not have a traveling function.

[0080] In the above embodiment, a pipe manufacturing system 1 consisting of a strip 11 and a joiner 12, which is used to install a covering material 10, was described as an example. However, the quantity and shape of the covering material are not limited in the pipe manufacturing system according to the present invention. For example, the pipe manufacturing system according to the present invention can also be used when a single covering material is installed in a spiral shape. In this case, the components such as the pull-in device and the installation device will be configured to correspond to the fact that there is a single covering material.

[0081] In the above embodiment, a configuration was described in which the supply source for the covering material 10 is installed on the opposite side of the pipe-making unit 3 from the running unit 2. However, in the present invention, the supply source may be located on the side of the support unit.

[0082] In the above embodiment, a configuration in which the travel unit 2 has auxiliary wheels 23 was described as an example. However, when the present invention includes a travel unit as a support unit, the presence or absence of auxiliary wheels on the travel unit is optional. In addition, as a component to prevent the pipe manufacturing system from tipping over, similar to the auxiliary wheels 23 in the above embodiment, a counterweight may be provided on the support unit instead of or in addition to the auxiliary wheels.

[0083] In the above embodiment, a configuration comprising an evaluation unit 4 and a control unit 5, capable of realizing various control functions, was described as an example. However, in the present invention, the presence or absence of the evaluation unit and the control unit is arbitrary and independent of each other.

[0084] In the above embodiment, a configuration in which the distance measuring sensor 41 and the central groove sensor 42 are laser displacement sensors and the step sensor 43 is a contact-type sensor was described as an example. However, in the present invention, the types of sensors constituting the evaluation unit 4 are not limited. For example, a laser displacement sensor may be used to detect the step of the covering material instead of or in addition to the step sensor 43 in the above embodiment. In addition, in the above embodiment, the central groove sensor 42 may have a function to detect the step. Furthermore, for example, instead of or in addition to the central groove sensor 42 in the above embodiment, an imaging device for photographing the covering material may be provided, and the appropriateness of the relative relationship may be determined based on the position of a predetermined measurement point (for example, the central groove 15) of the central groove in the image captured by the imaging device.

[0085] In the above embodiment, a configuration was described as in which the step sensor 43 measures the height of the step between the strip 11 and the joiner 12, and determines the success or failure of the fitting based on this measurement. However, in the present invention, the method of measurement for determining the success or failure of fitting (joining) is not limited. For example, the success or failure of fitting (joining) may be determined by measuring the shape and dimensions of the covering material.

[0086] In the above embodiment, a configuration in which the pipe-making system 1 includes a slip ring 9 was described as an example. However, in the present invention, the components of the electrical system are arbitrary.

[0087] With regard to other configurations, the embodiments disclosed herein are illustrative in all respects, and it should be understood that the scope of the present invention is not limited thereto. Those skilled in the art will readily understand that modifications can be made as appropriate without departing from the spirit of the invention. Therefore, other embodiments modified without departing from the spirit of the invention are naturally included within the scope of the present invention. [Industrial applicability]

[0088] This invention can be used in pipe rehabilitation methods, which involve installing a covering material on the inner surface of a pipe to rehabilitate it. [Explanation of Symbols]

[0089] 1: Pipe manufacturing system 2: Running Unit 21: Main body 22: Crawler 23: Training wheels 24: Drive system for traction 25: Rotary drive device 26: Tilt sensor 3: Pipe manufacturing unit 31: Central member 4: Evaluation Unit 41: Distance measuring sensor 42: Central groove sensor 43: Step sensor 5: Control Unit 6: Retraction device 61: First Inlet Device 62: Second retraction device 7: Installation equipment 71:First delivery device 72:Second delivery device 73: Mating roller 8: Guide member 81:First guide member 82:Second guide member 9: Slip ring 10: Covering material 11: Strip 12: Joyna

Claims

1. A pipe manufacturing system that allows a covering material to be installed spirally on the inner surface of a pipe, A drawing device capable of drawing in the covering material from the supply source of the covering material, A discharge device capable of sending the covering material drawn in by the aforementioned drawing device toward the inner surface of the conduit, A guide device that guides the covering material pulled in by the pull-in device to the discharge device, A central member that is rotationally driven around a predetermined axis of rotation and radially supports the retraction device, the delivery device, and the guide device around the axis of rotation, The system includes a drive unit that rotates the central member and a support unit that cantilever-supports the central member, A pipe manufacturing system in which the central member supports the retraction device on the far end side and the discharge device on the base end side.

2. At least one of the aforementioned retraction device and the aforementioned discharge device, At least two drums sandwiching the covering material, The pipe-making system according to claim 1, further comprising at least two drive units for driving each of the two drums.

3. The covering material has irregularities on at least one surface, The pipe manufacturing system according to claim 2, wherein of the two drums, the drum in contact with the surface of the covering material having irregularities has irregularities of a shape corresponding to the irregularities.

4. The pipe manufacturing system according to claim 2, wherein at least one surface of the two drums is rough.

5. The pipe manufacturing system according to claim 1, comprising at least two of the aforementioned dispensing devices.

6. The guide device comprises at least a first drum and a second drum that sandwich the covering material, The first drum has a diameter at the center in the width direction that is larger than the ends in the width direction. The pipe-making system according to claim 1, wherein the second drum has a smaller diameter at the center in the width direction than at the ends in the width direction.

7. The pipe-making system according to claim 6, wherein at least one of the first drum and the second drum is divided into a plurality of elements in the width direction.

8. The covering material includes a first covering material and a second covering material that are arranged in an alternating spiral pattern and are interlocking with each other. The retraction device includes a first retraction device capable of retracting the first covering material and a second retraction device capable of retracting the second covering material, The dispensing device includes a first dispensing device capable of dispensing the first covering material onto the inner surface of the pipe, and a second dispensing device capable of dispensing the second covering material onto the inner surface of the pipe. The pipe-making system according to claim 1, wherein the guide device includes a first guide device capable of guiding the first covering material and a second guide device capable of guiding the second covering material.

9. The support unit has a traveling device that can travel inside the conduit, The pipe manufacturing system according to claim 1, wherein the central member is supported by the support unit at the rear in the direction of travel of the traveling device.

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