Internal track vehicle

Abstract

To provide an in-pipe traveling body that can travel inside a pipe to cut an object to be cut within the pipe, while maintaining a stable posture inside the pipe.SOLUTION: An in-pipe traveling body comprises cutting means for cutting an object to be cut, driving means for driving wheels to cause the in-pipe traveling body to travel, and pressing means for pressing a contact portion of the in-pipe traveling body against the inner surface of the pipe.SELECTED DRAWING: Figure 3

Description

Technical Field

[0001] The present invention relates to a technique for cutting an object to be cut in a pipe where it is difficult for a person to enter.

Background Art

[0002] Below the building foundation in some nuclear power plants, water removal equipment 1 as shown in FIG. 1 is provided to remove the gushing water. The water removal equipment 1 includes a blind drain water collection material 2 (shown by a one-dot chain line in FIG. 1) and a water collection pipe 3 (shown by a solid line in FIG. 1) connected thereto. The blind drain water collection material 2 is, for example, a three-dimensional net-shaped molded product obtained by extruding polypropylene resin into fibers having a diameter of about 2 mm (sometimes called a "plastic three-dimensional net-shaped molded product" or "Hachimaron (registered trademark)"), and is covered with a water-permeable sheet 6 such as a non-woven fabric around it to prevent clogging of fine stones, sand, etc. in the soil. The water removal equipment 1 is provided underground, and the blind drain water collection material 2 collects the underground gushing water and flows it into the water collection pipe 3, so that it flows through the water collection pipe 3 to the drainage pit and the gushing water is collected by the pump in the drainage pit and drained outside the water removal equipment 1.

[0003] For the safe operation of the nuclear power plant where the water removal equipment 1 is provided, the soundness of the water removal equipment 1 is essential. Therefore, it is necessary to insert inspection equipment into the water collection pipe 3 from a vertical hole 4 dug to the depth of the water removal equipment 1 for inspection. However, at the connection part 5 of the blind drain water collection material 2 in the water collection pipe 3, as shown in FIG. 2, since the end of the blind drain water collection material 2 protrudes into the water collection pipe 3, it becomes an obstacle to the passage of the inspection equipment and hinders the inspection.

[0004] Under such circumstances, Patent Document 1 discloses an in-pipe traveling body for removing unnecessary objects in a pipe. This in-pipe traveling body has a support member that rotatably supports wheels around its axis, and the support member has a rotation axis extending in a direction opposite to the inner peripheral surface with respect to the wheels, and is rotatable around the rotation axis, so that the direction of the wheels can be changed and it can travel in the pipe while avoiding obstacles.

Prior Art Documents

[0005] [Patent Document 1] Japanese Patent Publication No. 2018-69147 [Overview of the project] [Problems that the invention aims to solve]

[0006] On the other hand, as shown in Figure 2, if the underground drainage material 2 inside the water collection pipe 3 protrudes to the extent of blocking the inside of the pipe, it may be difficult for the pipe-running body of Patent Document 1 to run while avoiding the underground drainage material 2. In such cases, it is preferable to cut the material to be cut, such as the underground drainage material 2.

[0007] Furthermore, even if a mobile unit capable of cutting the object to be cut is used to cut the object by moving it inside the water collection pipe 3, if the diameter of the water collection pipe 3 is small (for example, the inner diameter of some water collection pipes 3 is about 200 mm), the mobile unit needs to be made smaller. However, because such a small mobile unit is lightweight, its posture inside the pipe is unstable, leading to problems such as tipping over and difficulty in cutting the object.

[0008] In view of these circumstances, the present invention aims to provide a pipe-running body that can cut objects to be cut inside a pipe while maintaining a stable posture within the pipe. [Means for solving the problem]

[0009] This invention was made to achieve the above objective and has the following features.

[0010] The invention described in claim 1 is a pipe-running body that travels inside a pipe and cuts an object to be cut inside the pipe, comprising: cutting means for cutting the object to be cut; driving means for driving wheels to run the pipe-running body; and pressing means for pressing a contact portion that abuts against the inner surface of the pipe against the inner surface of the pipe. The pressing means presses the contact portion with a pressure that allows the pipe-traveling body to move as it travels through the pipe. It is characterized by the following:

[0012] Claim 2The invention described in the claim 1 The pipe-running body described above is characterized in that the pressing means presses the contact portion with a pressure that allows the cutting means to cut the object to be cut when the cutting means cuts the object to be cut.

[0013] Claim 3 The invention described is A pipe-running body that travels inside a pipe and cuts an object to be cut inside the pipe, comprising: cutting means for cutting the object to be cut; driving means for driving wheels to run the pipe-running body; and pressing means for pressing a contact portion that abuts against the inner surface of the pipe against the inner surface of the pipe, The contact portion is characterized in that, when viewed from the Z direction, with the front-to-back direction of the pipe-running body being the X direction and the displacement direction of the contact portion being the Y direction, it is arc-shaped.

[0014] Claim 4 The invention described is A pipe-running body that travels inside a pipe and cuts an object to be cut inside the pipe, The four wheels are the left front wheel, the right front wheel, the left rear wheel, and the right rear wheel. Multiple driving means for driving each of the aforementioned wheels, Based on the operator's actions, each The aforementioned Driving means Controlling means The pipe-running body comprises a contact portion, a pressing means for pressing the contact portion against the inner surface of the pipe, and a cutting means for cutting the object to be cut. .

[0015] Claim 5 The invention described is A pipe-running body that travels inside a pipe and cuts an object to be cut inside the pipe, comprising: cutting means for cutting the object to be cut; driving means for driving wheels to run the pipe-running body; and pressing means for pressing a contact portion that abuts against the inner surface of the pipe against the inner surface of the pipe, The left front wheel and the right front wheel are characterized by having chamfered edges on their outer corners.

[0019] Claim 6 The invention described is A pipe-running body that travels inside a pipe and cuts an object to be cut inside the pipe, comprising: cutting means for cutting the object to be cut; driving means for driving wheels to run the pipe-running body; and pressing means for pressing a contact portion that abuts against the inner surface of the pipe against the inner surface of the pipe, The device is characterized by having one end of a wire extending outside the pipe and the other end of the wire attached to it.

[0020] Claim 7 The invention described in the claim 6 The pipe-running body described above is characterized in that an arc-shaped cover member is attached behind the rear wheel, which contacts the inner corner of the curved portion of the pipe when one end of the wire is pulled from outside the pipe. [Effects of the Invention]

[0021] According to this invention, since the contact portion of the in-pipe traveling body is pressed against the inner surface of the pipe, the posture of the in-pipe traveling body in the pipe is stabilized, making it easier to cut the object to be cut. Also, the posture during traveling is stable, and by transmitting the torque from the wheels to the inner surface of the pipe, it becomes possible to tow a long-distance cable.

Brief Description of the Drawings

[0022] [Figure 1] It is a schematic plan view of the water gushing removal facility 1. [Figure 2] It is a schematic cross-sectional view of the water collecting pipe 3. [Figure 3] It is a perspective view showing the in-pipe work vehicle 10 in this embodiment. [Figure 4] It is a side view showing the in-pipe work vehicle 10 in this embodiment. [Figure 5] It is a front view showing the in-pipe work vehicle 10 in this embodiment. [Figure 6] (A) is a view showing the wheel 32 of the in-pipe work vehicle 10 and the water collecting pipe 3 in this embodiment from the front direction of the in-pipe work vehicle 10, and (B) is a view showing the wheel 32 of the in-pipe work vehicle 10 and the water collecting pipe 3 in this embodiment from the rear direction of the in-pipe work vehicle 10. [Figure 7] (A) is a side view showing an example of the simplified in-pipe work vehicle 10 during traveling in this embodiment, and (B) is a side view showing an example of the simplified in-pipe work vehicle 10 during work (cutting) in this embodiment. [Figure 8] (A) is a front view showing an example of the simplified in-pipe work vehicle 10 during traveling in this embodiment, and (B) is a front view showing an example of the simplified in-pipe work vehicle 10 during work (cutting) in this embodiment. [Figure 9] It is a schematic stop side view showing an example of the in-pipe work vehicle 10 during work (cutting) in this embodiment.

Modes for Carrying Out the Invention

[0023] Embodiments of the present invention will be described with reference to the drawings. In this embodiment, the object to be cut is a drainage material 2 covered with a permeable sheet 6.

[0024] [1. Configuration of the 10-unit work vehicle] The configuration of the pipe maintenance vehicle 10 in this embodiment will be explained using Figures 3-5. The pipe maintenance vehicle 10 operates based on control signals from an operating unit 50 connected via multiple cables. In Figures 3-5, a bundle of multiple signal cables and hoses that supply power and air is referred to as the cable bundle C, and the individual signal cables and hoses are not shown. Furthermore, the cable bundle C is protected by the duct hose D shown in Figures 3 and 4 to reduce friction between the cable bundle C and the inner surface of the water collection pipe 3 (inner diameter approximately 200 mm) during travel. The pipe maintenance vehicle 10 may travel more than 100 m inside the water collection pipe 3, in which case the lengths of the cable bundle C and duct hose D will also be correspondingly long.

[0025] The pipe cutting vehicle 10 includes a functional unit U1 which includes an air saw 11 and a saw blade 12 for cutting the material to be cut, and a traveling unit U2 which transports the functional unit U1.

[0026] [1.1. Configuration of Functional Unit U1] First, let's describe the functional unit U1. The functional unit U1 has a base 25, and the following components are installed on the base 25.

[0027] The air saw 11 cuts the material to be cut by driving the saw blade 12, which extends forward of the vehicle, to reciprocate back and forth. The saw blade 12 protrudes forward of the travel unit U2 and cuts the material to be cut in front of it. The length that it protrudes forward depends on the diameter of the material to be cut. For example, if the diameter of the material to be cut is 100 mm, it should protrude 100 mm or more. The number of teeth on the saw blade 12 should be, for example, about 18 teeth per inch. If the number of teeth is too high, it will be difficult to cut the permeable sheet 6, and if it is too low, the permeable sheet 6 will get tangled and it will be difficult to cut, so it is preferable to adjust the number of teeth according to the permeable sheet 6.

[0028] Furthermore, while typical saw blades are single-edged, saw blade 12 may be made double-edged by joining two typical saw blades together with rivets, allowing for cutting in both directions. The reason for using rivets is to avoid compromising the hardness of the heat-treated cutting edge.

[0029] The air saw 11 is mounted on top of the air cylinder 13 for raising and lowering the air saw. The air cylinder 13 raises and lowers the air saw 11 using air supplied from an air supply unit (not shown) based on the operator's operation of the control unit 50. The air cylinder 13 for raising and lowering the air saw is mounted on a rotating shaft 14 that runs along the front-rear direction of the vehicle. A rotary motor 15 rotates the rotating shaft 14 based on a control signal from the control unit 50, causing the air cylinder 13 and the air saw 11 to rotate within a predetermined range (for example, about 90 degrees to the left and right) when the vehicle is viewed from the front (see Figure 8).

[0030] The traction air cylinder 16 extends using air supplied from an air supply unit (not shown) based on the operator's operation of the control unit 50, thereby raising and lowering the traction pad 17. The traction pad 17 is displaced by the traction air cylinder 16 toward the inner surface of the water collection pipe 3 and pressed against the inner surface of the water collection pipe 3, improving traction during travel. In other words, the traction air cylinder 16 displaces the position of the traction pad 17 that contacts the inner surface of the water collection pipe 3 to a position where it contacts the inner surface of the water collection pipe 3, and by pressing against it, stabilizes the posture of the pipe work vehicle 10 (especially its posture during travel) inside the water collection pipe 3. Furthermore, the amount of traction can be controlled by adjusting the air pressure supplied to the traction air cylinder 16. For example, if the traction is too great, it may damage the inner surface of the water collection pipe 3 or place an excessive load on the travel motor 30, causing it to malfunction, but this can be prevented by adjusting the air pressure. Here, if a sensor (not shown) detects that a load has been applied to the travel motor 30 and the current value has risen, the control unit 50 may display a warning to prompt the operator to lower the air pressure, or the control unit 50 may be configured to directly apply feedback control to lower the air pressure without going through the operator.

[0031] Since the traction air cylinder 16 and traction pad 17 rotate together with the air saw 11, etc., when viewed from the front (see Figure 8), the angle of traction can be changed by adjusting this rotation angle to extend the traction air cylinder 16, thereby increasing the likelihood of eliminating wheel slippage if the wheel 32 slips.

[0032] The pipe maintenance vehicle 10 needs to tow the cable bundle C when traveling, and when turning at pipe joints such as 90-degree elbows and tee junctions in the water collection pipe 3, the cable bundle C (or duct hose D) comes into contact with the inner surface of the water collection pipe 3, increasing frictional resistance. As a result, the torque from the travel motor 31, described later, cannot be transmitted to the inner surface of the water collection pipe 3 via the wheels 32, which may cause the wheels 32 to slip and the vehicle to become immobile. In contrast, the traction air cylinder 16 extends, causing the traction pad 17 to come into contact with the inner surface of the water collection pipe 3, thereby transmitting the torque from the travel motor 31 to the inner surface of the water collection pipe 3 and preventing the wheels 32 from slipping.

[0033] The portion of the traction pad 17 that contacts the inner surface of the water collection pipe 3 is arc-shaped when viewed from the Z direction (perpendicular to the plane of Figure 4), where the axial direction of the water collection pipe 3 (left-right direction in the plane of Figure 4) is the X direction and the displacement direction of the traction pad 17 (up-down direction in the plane of Figure 4) is the Y direction. This reduces frictional resistance when driving while pressing the traction pad 17 against the inner surface of the water collection pipe 3. Furthermore, the portion of the traction pad 17 that contacts the inner surface of the water collection pipe 3 is arc-shaped when viewed from the axial direction of the water collection pipe 3 (perpendicular to the plane of Figure 5). This reduces frictional resistance when rotating the air saw 11 while pressing the traction pad 17 against the inner surface of the water collection pipe 3 (see Figure 8). In addition, by making the portion of the traction pad 17 that contacts the inner surface of the water collection pipe 3 arc-shaped, it is possible to prevent the traction pad 17 from getting caught in holes if the water collection pipe 3 is a perforated pipe with holes formed on its inner surface. Furthermore, it is preferable to use a material for the traction pad 17 that has low frictional resistance and does not damage the water collection pipe 3 (for example, MC nylon or Teflon®) to reduce frictional resistance with the inner surface of the water collection pipe 3.

[0034] In this embodiment, the pipe work vehicle 10 is equipped with two sets of traction air cylinders 16 and traction pads 17 on the left and right sides. However, the number of traction air cylinders 16 and traction pads 17 is not limited to two sets; one set or three or more sets may be provided.

[0035] The vehicle body fixing air cylinder 18 raises and lowers the vehicle body fixing pad 19 using air supplied from an air supply unit (not shown) based on the operator's operation of the control unit 50. As shown in Figure 9, the vehicle body fixing pad 19 is displaced by the vehicle body fixing air cylinder 18 toward the inner surface of the water collection pipe 3 and pressed against the inner surface of the water collection pipe 3, fixing the vehicle body during cutting. In other words, the vehicle body fixing air cylinder 18 displaces the position of the vehicle body fixing pad 19 that is in contact with the inner surface of the water collection pipe 3 to a position where it is in contact with the inner surface of the water collection pipe 3, and by pressing it, stabilizes the posture of the pipe work vehicle 10 (especially the posture during cutting) inside the water collection pipe 3.

[0036] The front camera 20 captures the area in front of the pipe maintenance vehicle 10, and the rear camera 21 captures the area behind the pipe maintenance vehicle 10. The video data captured by each camera is transmitted via cable to the control unit 50 and displayed on a display (not shown) visible to the operator.

[0037] The rear LED 22 is a light that illuminates the rear of the pipe maintenance vehicle 10.

[0038] A sliding mechanism 23 and a sliding motor 24 are provided at the bottom of the base 25 to slide the base 25 back and forth. The sliding mechanism 23 and the sliding motor 24 are fixed to the base frame F of the travel unit U2. Based on a control signal from the operating unit 50, the sliding motor 24 slides the base 25 and components such as the air saw 11 installed on the base 25 in the front-rear direction of the vehicle via the sliding mechanism 23. A lead screw mechanism can be used as the sliding mechanism 23.

[0039] [1.2. Configuration of the running unit U2] Next, the running unit U2 will be described. The running unit U2 includes a base frame F, and the following components are installed on the base frame F.

[0040] The drive motor 31 has four motors, and the control unit 50 controls the four wheels 32—the left front wheel 32LF, the right front wheel 32RF, the left rear wheel 32LR, and the right rear wheel 32RR—individually based on the operator's input. By controlling the forward and backward rotation of the four wheels 32 with individual motors, it is possible to turn 90-degree elbows and tee junctions even within the narrow water collection pipe 3. The front wheels may or may not be used as steering wheels, but if the front wheels are not used as steering wheels, the drive unit U2 can be made smaller, and it is possible to avoid excessive torque acting on the motors that would occur if the front wheels were used as steering wheels, as well as the possibility of the vehicle climbing up the inner surface of the water collection pipe 3 and tipping over.

[0041] As shown in Figure 6(A), the left front wheel 32LF and the right front wheel 32RF, when viewed from the front (when the vehicle is viewed from the front), have a chamfered shape with the outer corners beveled, and have a flat section 32a and a sloped section 32b. In other words, the front wheel has a shape that combines a cylinder corresponding to the flat section 32a and a frustocone corresponding to the sloped section 32b. This increases the contact area of ​​the wheel 32 with the inner surface of the water collection pipe 3, and allows for efficient transmission of torque from the drive motor 31. It also allows the wheel to turn and overcome protrusions on the inner surface of the pipe at 90-degree elbows and tee junctions. By leaving the flat section 32a, the wheel 32 can travel through the holes (recesses) of the perforated pipe without derailing. Alternatively, the front wheel may consist only of a frustocone corresponding to the sloped section.

[0042] As shown in Figure 6(B), the left rear wheel 32LR and the right rear wheel 32RR, when viewed from the rear (when the vehicle is viewed from behind), have a shape in which the outer corners are beveled (chamfered shape), and furthermore, the inner diameter of the wheel is reduced, and they have a small diameter flat section 32c, a flat section 32d, and a sloped section 32e. In other words, the rear wheel has a shape that combines a small diameter cylinder corresponding to the small diameter flat section 32c, a large diameter cylinder corresponding to the flat section 32d, and a frustocone corresponding to the sloped section 32e. Similar to the front wheel, the chamfered shape of the rear wheel allows the contact area of ​​the wheel 32 with the inner surface of the water collection pipe 3 to be increased, and the torque of the drive motor 31 can be transmitted efficiently. In addition, it can overcome protrusions on the inner surface of the pipe at 90-degree elbows and tee junctions while turning. Furthermore, by leaving the small diameter flat section 32c and the flat section 32d, the wheel 32 can travel through the holes (recesses) of the perforated pipe without derailing. Alternatively, the rear wheel may be shaped solely from a frustum of a cone, corresponding to the sloped portion.

[0043] The front LED 33 is a light that illuminates the front of the pipe maintenance vehicle 10.

[0044] The rear tire covers 34 are mounted to protect the rear of the left rear wheel 32LR and the right rear wheel 32RR, respectively. As shown in Figure 3, when viewed from above, the rear tire cover 34 has an arc shape on its rear side.

[0045] The other end of a wire W, one end of which extends outside the water collection pipe 3, is attached to the rear side of the travel unit U2, and the wire W passes through the duct hose D together with the cable bundle C. By pulling the wire W from the outside of the water collection pipe 3 (on the side of the operating unit 50), the pipe work vehicle 10 can be pulled out of the water collection pipe 3. In the straight sections of the water collection pipe 3, the pipe work vehicle 10 can be pulled out simply by pulling the wire W, but in the right-angle sections of the water collection pipe 3, such as 90-degree elbows and tee junctions, the duct hose D and the pipe work vehicle 10 may get caught when the wire W is pulled, making it impossible to pull out. However, as described above, by making the rear side of the rear wheel tire cover 34 arc-shaped, it is possible to pull out smoothly even in the right-angle sections.

[0046] [2. Operation of the pipe maintenance vehicle 10] Next, we will explain the operation of the pipe maintenance vehicle 10.

[0047] The operation of the pipe work vehicle 10 will be explained using Figures 7-9. As described above, the saw blade 12 cuts the material to be cut with the blade protruding forward from the travel unit U2, but in this state, the overall length of the pipe work vehicle 10 becomes too long, making it difficult to turn 90-degree elbows and tee junctions. Therefore, when traveling, as shown in Figure 7(A), the slide mechanism 23 and slide motor 24 displace the position of the functional unit U1, which includes the saw blade 12, to the rear side of the travel unit U2, thereby shortening the overall length of the pipe work vehicle 10. On the other hand, when cutting the material to be cut, as shown in Figure 7(B), the slide mechanism 23 and slide motor 24 slide the position of the functional unit U1, which includes the saw blade 12, to the front side of the travel unit U2. This enables the cutting of the material to be cut and also allows the vehicle to turn 90-degree elbows and tee junctions while traveling.

[0048] Furthermore, the air saw 11 can be raised and lowered by an air cylinder 13 for raising and lowering the air saw. When traveling, the position of the air saw 11 can be displaced (lowered) to bring it closer to the pipe work vehicle 10, thereby avoiding contact with obstacles in the upper part of the pipe, and avoiding contact with upper protrusions when turning over protrusions at the bottom of 90-degree elbows or tee junctions. On the other hand, as shown in Figure 9, when cutting, the position of the air saw 11 can be displaced from the pipe work vehicle 10 toward the inner surface of the water collection pipe 3 (for example, raised to the full inner surface of the water collection pipe 3), so that the object to be cut that protrudes into the water collection pipe 3 can be cut at a position close to the inner surface of the water collection pipe 3, minimizing the amount of material left uncut.

[0049] Furthermore, the air saw 11 can be rotated (approximately 90 degrees left and right) by a rotary motor 15 and a rotary shaft 14. When traveling, the air saw 11 and the air cylinder 13 for lifting the air saw are in a vertical position, as shown in Figure 8(A). When cutting the material to be cut, the air saw 11 is rotated to cut the material, as shown in Figure 8(B). For example, by designing the size of the pipe work vehicle 10 so that the position of the rotary shaft 14 is the central axis of the water collection pipe 3, the saw blade 12 can be rotated to follow the inner surface of the water collection pipe 3, and the material to be cut can be cut near the inner surface of the water collection pipe 3. The rotary motor 15 adjusts the rotation angle based on a control signal from the operating unit 50. Note that if there is an obstacle above while traveling and the air saw 11 and the air cylinder 13 for lifting the air saw would come into contact with it if they remain in a vertical position (see Figure 8(A)), the rotation angle can be adjusted to avoid the obstacle while traveling.

[0050] The traction air cylinder 16 presses the traction pad 17 against the inner surface of the water collection pipe 3 with a pressure sufficient to allow the pipe maintenance vehicle 10 to move during travel. This is done to stabilize the posture of the pipe maintenance vehicle 10 while it is moving. However, if the pressing pressure is too strong, the frictional force between the traction pad 17 and the inner surface of the water collection pipe 3 will increase, making it impossible to move, so the pressure should be kept at an appropriate level.

[0051] The vehicle-fixing air cylinder 18 presses the vehicle-fixing pad 19 against the inner surface of the water collection pipe 3 with a pressure sufficient to prevent the posture of the pipe-work vehicle 10 from wavering during cutting (operation). This pressure is higher than the pressure applied when the traction air cylinder 16 presses the traction pad 17 against the inner surface of the water collection pipe 3. As a result, the pipe-work vehicle 10 is fixed to the inner surface of the water collection pipe 3, and the reaction force during cutting can be suppressed.

[0052] Furthermore, the traction pad 17 and the vehicle body fixing pad 19 may be used in combination. For example, if the traction is insufficient when the traction pad 17 is pressed against the inner surface of the water collection pipe 3 during driving, the lack of traction can be compensated for by also pressing the vehicle body fixing pad 19 against the inner surface of the water collection pipe 3. Also, if the vehicle body fixing pad 19 is not sufficient to withstand the reaction force during cutting, the traction pad 17 can be supplemented by also pressing it against the inner surface of the water collection pipe 3.

[0053] Furthermore, if the in-pipe work vehicle 10 can stabilize its posture while driving with either the traction pad 17 or the body fixing pad 19, and can also sufficiently withstand the reaction force during cutting, then it may be equipped with only one of the traction pad 17 or the body fixing pad 19.

[0054] As described above, the pipe work vehicle 10 of this embodiment (an example of a "pipe travel vehicle") travels inside a water collection pipe 3 (an example of a "pipe") and cuts the underground drainage material 2 (an example of "object to be cut") covered with a permeable sheet 6 inside the water collection pipe 3. It comprises an air saw 11 and saw blade 12 (an example of "cutting means") for cutting the underground drainage material 2 covered with a permeable sheet 6, a travel motor 31 (an example of "driving means") that drives the wheels 32 to move the pipe work vehicle 10, and a traction air cylinder 16 (an example of "pressing means") and a vehicle body fixing air cylinder 18 (an example of "pressing means") that press the traction pad 17 and vehicle body fixing pad 19 (an example of "contact parts") that contact the inner surface of the water collection pipe 3 against the inner surface of the water collection pipe 3.

[0055] Therefore, with the pipe work vehicle 10 of this embodiment, at least one of the traction pad 17 or the vehicle body fixing pad 19 is pressed against the inner surface of the water collection pipe 3, which stabilizes the posture of the pipe work vehicle 10 inside the water collection pipe 3. This makes it easier to cut the underground drainage material 2 covered with the permeable sheet 6, and also stabilizes the posture during travel, reducing the risk of tipping over. Furthermore, by transmitting torque from the wheels to the inner surface of the pipe, it becomes possible to pull cables over long distances.

[0056] Furthermore, the traction air cylinder 16 (an example of a "pressing means") of the pipe work vehicle 10 in this embodiment presses the traction pad 17 (an example of a "contact portion") against the inner surface of the water collection pipe 3 with a pressure that allows the pipe work vehicle 10 to move when the pipe work vehicle 10 is traveling. The pressure that allows movement is, for example, a pressure that does not increase the frictional force between the traction pad 17 and the inner surface of the water collection pipe 3 to the point where movement becomes impossible, and is a pressure that allows the wheels of the pipe work vehicle 10 to transmit traction without slipping. As a result, the pipe work vehicle 10 can travel stably inside the water collection pipe 3.

[0057] Furthermore, the air cylinder 18 (an example of a "pressing means") for fixing the body of the pipe work vehicle 10 in this embodiment presses the body fixing pad 19 (an example of a "contact part") with a pressure that allows the air saw 11 and saw blade 12 to cut the underground drainage material 2 covered with a permeable sheet 6. The pressure that allows the air saw 11 and saw blade 12 to cut the underground drainage material 2 is, for example, a pressure that does not change the posture of the pipe work vehicle 10 even when it receives a reaction force generated when the saw blade 12 cuts the underground drainage material 2 covered with a permeable sheet 6. As a result, the posture of the pipe work vehicle 10 is stabilized during cutting, and the underground drainage material 2 covered with a permeable sheet 6 can be cut efficiently.

[0058] Furthermore, the traction pad 17 (an example of a "contact portion") of the pipe work vehicle 10 in this embodiment is arc-shaped when viewed from the Z direction, where the front-rear direction of the pipe work vehicle 10 is the X direction and the displacement direction of the traction pad 17 is the Y direction. This reduces resistance when driving while pressing the traction pad 17 against the inner surface of the water collection pipe 3.

[0059] Furthermore, the pipe work vehicle 10 of this embodiment has four wheels: a left front wheel 32LF, a right front wheel 32RF, a left rear wheel 32LR, and a right rear wheel 32RR. The operating unit 50 (an example of a "control means") controls each of the wheels 32LF, 32RF, 32LR, and 32RR individually based on the operator's input. This reduces the turning radius of the pipe work vehicle 10, allowing it to make tighter turns.

[0060] Furthermore, the left front wheel 32LF and the right front wheel 32RF of the pipe work vehicle 10 in this embodiment have chamfered outer corners. This increases the contact area of ​​the wheel 32 with the inner surface of the water collection pipe 3, and allows for efficient transmission of torque from the travel motor 31.

[0061] Furthermore, the pipe work vehicle 10 of this embodiment has a saw blade 12 (an example of a "cutting blade") extending forward of the pipe work vehicle 10, and a slide mechanism 23 (an example of a "first displacement means") and a slide motor 24 (an example of a "first displacement means") displace the position of the saw blade 12 forward and backward. This prevents the saw blade 12 from obstructing travel by displacing its position backward during travel, while during cutting, displacing the saw blade 12 forward allows the saw blade 12 to cut the underground drainage material 2 covered with a permeable sheet 6.

[0062] Furthermore, the pipe work vehicle 10 of this embodiment has a saw blade 12 (an example of a "cutting blade"), and an air cylinder 13 for lifting and lowering the air saw (an example of a "second displacement means") displaces the position of the saw blade 12 from the pipe work vehicle 10 toward the inner surface of the water collection pipe 3. This makes it possible to cut the underground drainage material 2 covered with a permeable sheet 6 at a position close to the inner surface of the water collection pipe 3.

[0063] Furthermore, the pipe work vehicle 10 of this embodiment has a saw blade 12 (an example of a "cutting blade"), and a rotary motor 15 (an example of a "rotating means") rotates the saw blade 12 when the pipe work vehicle 10 is viewed from the front or rear. This allows the underground drainage material 2 covered with a permeable sheet 6 to be cut while shifting the cutting position of the saw blade 12. In addition, when traveling, it can travel while avoiding obstacles located above inside the water collection pipe 3.

[0064] Furthermore, the pipe work vehicle 10 of this embodiment has the other end of a wire W attached to it, with one end extending outside the water collection pipe 3. This allows the pipe work vehicle 10 to be pulled out of the water collection pipe 3. In addition, an arc-shaped rear wheel tire cover 34 (an example of a "cover member") is attached behind the rear wheels 32LR and 32RR, which contacts the inner corner of the curved section of the water collection pipe 3 when one end of the wire W is pulled from outside the water collection pipe 3. This allows the pipe work vehicle 10 to be pulled out smoothly without getting caught on the right-angle sections of the water collection pipe 3, such as 90-degree elbows and tee branches, when the wire W is pulled out.

[0065] In this embodiment, the functional unit U1 has a cutting mechanism such as an air saw 11 and cuts the object to be cut. However, by replacing the functional unit U1 with a functional unit equipped with other mechanisms on the travel unit U2, the pipe work vehicle 10 can be used for a variety of purposes. [Explanation of symbols]

[0066] 1: Groundwater removal equipment 2: Underground drainage material 3: Water collection pipe 4: Vertical hole 5: Connection part 6: Permeable sheet 10: In-service work vehicle 11: Air saw 12: Saw blade 13: Air cylinder for lifting and lowering air saw 14: Rotating shaft 15: Rotating motor 16: Traction air cylinder 17: Traction Pads 18: Air cylinder for securing the vehicle body 19: Vehicle body fixing pads 20: Front camera 21: Rear camera 22: Rear LED 23: Sliding mechanism 24: Slide motor 25: Pedestal 30: Driving motor 31: Driving motor 32 :Wheel 32LF: Left front wheel 32LR: Left rear wheel 32RF: Right front wheel 32RR: Right rear wheel 32a: Flat part 32b:Slope part 32c: Small diameter flat section 32d: Flat part 32e: Slope section 33:Front LED 34: Rear tire cover 50:Operation unit C: Cable bundle D: Duct hose F: Base frame U1: Functional Unit U2: Running unit W: wire

Claims

1. A pipe-running body that travels inside a pipe and cuts an object to be cut inside the pipe, A cutting means for cutting the object to be cut, A driving means for driving the wheels to move the pipe-mounted vehicle, A pressing means for pressing a contact portion that abuts against the inner surface of the pipe against the inner surface of the pipe, Equipped with, The pressing means is characterized in that, when the pipe-running body is running, it presses the contact portion with a pressure that allows the pipe-running body to run.

2. The pipe-running body according to claim 1, The pressing means is characterized in that, when the cutting means cuts the object to be cut, the cutting means presses the contact portion with a pressure that is sufficient to cut the object to be cut, in a pipe-running body.

3. A pipe-running body that travels inside a pipe and cuts an object to be cut inside the pipe, A cutting means for cutting the object to be cut, A driving means for driving the wheels to move the pipe-mounted vehicle, A pressing means for pressing a contact portion that abuts against the inner surface of the pipe against the inner surface of the pipe, Equipped with, The in-pipe traveling body is characterized in that the contact portion is arc-shaped when viewed from the Z direction, where the front-rear direction of the in-pipe traveling body is the X direction and the displacement direction of the contact portion is the Y direction.

4. A pipe-running body that travels inside a pipe and cuts an object to be cut inside the pipe, The four wheels are the left front wheel, the right front wheel, the left rear wheel, and the right rear wheel. Multiple driving means for driving each of the aforementioned wheels, A control means that controls each of the aforementioned drive means based on the operator's operation, Contact area and, A pressing means for pressing the contact portion against the inner surface of the pipe, A cutting means for cutting the object to be cut, A vehicle that travels inside a pipe, equipped with the necessary components.

5. A pipe-running body that travels inside a pipe and cuts an object to be cut inside the pipe, A cutting means for cutting the object to be cut, A driving means for driving the wheels to move the pipe-mounted vehicle, A pressing means for pressing a contact portion that abuts against the inner surface of the pipe against the inner surface of the pipe, Equipped with, The pipe-running body is characterized by having chamfered edges on the outer corners of the left and right front wheels.

6. A pipe-running body that travels inside a pipe and cuts an object to be cut inside the pipe, A cutting means for cutting the object to be cut, A driving means for driving the wheels to move the pipe-mounted vehicle, A pressing means for pressing a contact portion that abuts against the inner surface of the pipe against the inner surface of the pipe, Equipped with, A pipe-running body characterized by having one end attached to the other end of a wire that extends outside the pipe.

7. The pipe-running body according to claim 6, A pipe-running body characterized in that an arc-shaped cover member is attached behind the rear wheel, which contacts the inner corner of the curved portion of the pipe when one end of the wire is pulled from outside the pipe.

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