JP7423472B2 - Piping pushing equipment, piping pushing equipment, and outside piping inspection method - Google Patents

Description

Embodiments of the present invention relate to a pipe pushing device that can be pushed into a pipe to inspect the inside and outside of the pipe, a pipe pushing equipment equipped with this pipe pushing device, and a method for inspecting the outside of the pipe.

In order to understand the situation inside the equipment of a plant, etc. that has become a harsh environment due to an accident, etc., we use the piping installed in the plant, etc., and install inspection and work equipment inside the equipment by passing through the piping. One possible method is to insert the tube into the pipe, but a device equipped only with a camera has been proposed as this general pipe pushing device.

JP2007-206258A Japanese Patent Application Publication No. 63-76987 Japanese Patent Application Publication No. 2006-125153

For example, as shown in Patent Document 1, the above-mentioned pipe pushing device uses a spherical head equipped with a camera, and inspects the inside of the pipe by pushing this head into the pipe with a highly rigid cable. be. However, this pipe pushing device is designed to inspect the inside of the pipe, and if the point to be inspected is located outside the pipe route, it is not possible to drill a hole in the pipe, making it impossible to inspect the outside of the pipe. The problem is that it cannot be done.

In addition, there are devices that simply make a hole in the pipe, such as those shown in Patent Document 2 and Patent Document 3, but these devices do not allow the camera to be taken out of the pipe, so it is necessary to inspect equipment outside the pipe. I can't.

Embodiments of the present invention have been made in consideration of the above-mentioned circumstances, and provide a pipe pushing device, pipe pushing equipment, and outside pipe inspection that can drill holes in the pipe and inspect the inside and outside of the pipe. The purpose is to provide a method.

A pipe pushing device in an embodiment of the present invention is a pipe pushing device that is pushed and inserted into a pipe, and includes a head equipped with an illuminated image acquisition device capable of acquiring images, and a rotation axis of the head. a head rotation device including a rotation mechanism for rotating the head rotation device; and a pushing cable connected to the opposite side of the head in the head rotation device to push the head rotation device, the head includes: A water jet nozzle capable of injecting high-pressure water for making a hole in the piping with a diameter through which the head can pass in the direction in which the head rotation device is pushed is provided together with the image acquisition device. It is something.

The pipe pushing equipment according to an embodiment of the present invention includes the pipe pushing device according to the embodiment, and a pushing mechanism that moves the pipe pushing device in a pushing direction by sandwiching and driving the pushing cable of the pipe pushing device. and a pull-back mechanism section that winds and drives the pushing cable of the pipe-pushing device to move the pipe-pushing device in the pull-back direction. .

The outside pipe inspection method according to the embodiment of the present invention includes a device installation step of installing the pipe pushing device described in the above embodiment inside the pipe, and device movement of pushing the pipe pushing device into a predetermined inspection position inside the pipe. a step of drilling a hole in the piping, fixing the piping pushing device after reaching a hole drilling position in the piping, and making a hole in the piping using high-pressure water released from the piping pushing device; The invention is characterized by comprising an outside-of-the-piping inspection step of inspecting the outside of the piping through the hole in which the piping is inserted using an image acquisition device provided on the piping-pushing device.

According to the embodiments of the present invention, it is possible to make holes in the piping and inspect the inside and outside of the piping.

FIG. 1 is a side view showing a pipe pushing device according to a first embodiment. FIG. 2 is a configuration diagram showing the internal configuration of the piping pushing device of FIG. 1; FIG. 3 is an explanatory diagram showing the state of drilling work in piping by the piping pushing device of FIGS. 1 and 2. FIG. FIG. 7 is a side view showing a pipe pushing device according to a second embodiment. FIG. 7 is a side view showing the piping pushing equipment according to the third embodiment. FIG. 6 is a side view showing a state in which the pipe pushing device in the pipe pushing equipment of FIG. 5 is installed in front of the entrance of the pipe to be inspected. FIG. 7 is a side view showing the pushing state of the pipe pushing device of FIG. 6; FIG. 8 is a side view showing the state of drilling into a pipe by the pipe pushing device of FIG. 7; FIG. 9 is a side view showing the state of inspection of the outside of the pipe by the pipe pushing device of FIG. 8; 6 is a flowchart of a method for inspecting outside the pipe, illustrating each operation of drilling a hole in the pipe and inspecting the outside of the pipe using the pipe pushing equipment of FIG. 5;

EMBODIMENT OF THE INVENTION Hereinafter, the form for implementing this invention is demonstrated based on drawing.

[A] First embodiment (FIGS. 1 to 3)
FIG. 1 is a side view showing a pipe pushing device according to a first embodiment, and FIG. 2 is a configuration diagram showing the internal configuration of the pipe pushing device of FIG. The pipe pushing device 10 shown in FIGS. 1 and 2 is inserted into the pipe 1, inspects the inside of the pipe 1, and drills a hole 2 (FIG. 3) in the pipe 1. 2 is used to inspect the outside of the piping 1, and includes a head 11, a head rotating device 12, a fixing device 13, and a pushing cable 14. Here, the piping 1 includes a first piping 1A into which the piping pushing device 10 is pushed, and a second piping (T-shaped piping, etc.) 1B that intersects, for example, perpendicularly crosses this first piping 1A. A hole 2 (FIG. 3) is made in 1B by the pipe pushing device 10.

In the pipe pushing device 10, a head 11 is driven to rotate around a rotation axis O by a head rotating device 12, a pushing cable 14 is connected to the opposite side of the head rotating device 12 from the head 11, and a pushing cable 14 is connected to the outer periphery of the head rotating device 12. A fixing balloon 15 is installed as a fixing device 13, and the head 11 is integrally equipped with a camera 16 and a water jet nozzle 17.

That is, the camera 16 of the head 11 is an image acquisition device capable of acquiring images of the inside and outside of the pipe 1, and is equipped with a light (not shown) that illuminates the inside and outside of the pipe 1. With this camera 16, the internal and external conditions of the pipe 1 are visually recognized and inspected.

The water jet nozzle 17 of the head 11 is fixed to a nozzle fixture 18 made of metal, for example, installed in the head 11, and a nozzle internal water channel 19 communicating with the water jet nozzle 17 is formed in this nozzle fixture 18. . The nozzle internal waterway 19 of the nozzle fixture 18 is provided so that the distance between the water jet nozzle 17 and a swivel joint 21 (described later) in the head rotating device 12 is the shortest. This nozzle internal waterway 19 is connected to a high-pressure water hose 20 disposed within the pushing cable 14 via the swivel joint 21 . As a result, ultra-high pressure water guided from a high-pressure water source (not shown) to the high-pressure water hose 20 is injected from the water jet nozzle 17 via the swivel joint 21 and the nozzle internal waterway 19, and is injected into the second pipe 1B of the pipe 1 as described later. Hole 2 is drilled in.

Here, the water jet nozzle 17 is set to be inclined by a predetermined angle θ with respect to the rotation axis O of the head 11. Therefore, by jetting the ultra-high pressure water W from the water jet nozzle 17 while the head 11 is rotating around the rotation axis O, the hole 2 ( Figure 3) can be opened.

As shown in FIG. 2, the head rotating device 12 includes a swivel joint 21 that connects the nozzle internal water channel 19 of the nozzle fixture 18 of the head 11 and the high-pressure water hose 20 within the pushing cable 14. The swivel joint 21 has one end 21A attached to the nozzle fixture 18 of the head 11, and is rotatably provided together with the nozzle fixture 18. The rotation axis of the one end side 21A of this swivel joint 21 is set to substantially coincide with the rotation axis O of the head 11.

Further, the head rotation device 12 includes a rotation mechanism 25 having a motor 22, a drive gear 23, and a driven gear 24. The rotational driving force of the motor 22 is transmitted to the one end side 21A of the swivel joint 21 via the drive gear 23 and the driven gear 24, and is transmitted from the one end side 21A of the swivel joint 21 to the nozzle fixture 18 of the head 11. , the head 11 is driven to rotate at least 360 degrees around the rotation axis O. Note that instead of the drive gear 23 and the driven gear 24, a drive pulley, a driven pulley, a belt wound around these pulleys, or the like may be used.

A plurality of fixing balloons 15 serving as the fixing device 13 are installed on the outer periphery of the head rotating device 12 at predetermined intervals, for example, two to four fixing balloons 15 . These fixing balloons 15 are inflated by supply of air from an air supply source (not shown), and deflated by cutting off the supply. The fixing balloon 15 presses the inner wall of the first pipe 1A of the pipe 1 when inflated, thereby supporting and fixing the head rotating device 12 to the first pipe 1A. Thereby, it becomes possible to suppress the vibration (shake) of the head rotating device 12 even by the jetting reaction force caused by the jetting of the ultra-high pressure water W from the water jet nozzle 17 of the head 11 .

The pushing cable 14 is connected to the end of the head rotating device 12 on the opposite side from the head 11 via a spring 26 . This pushing cable 14 is for pushing the head 11, head rotating device 12, and fixing balloon 15 into the first pipe 1A of the pipe 1, and has the rigidity to resist the pushing force. In addition to the high-pressure water hose 20, the push-in cable 14 houses a motor cable 27 for supplying power to the motor 22, and a camera cable 28 for transmitting and receiving signals to and from the camera 16.

Further, the spring 26 follows deformation such as bending of the first pipe 1A when the head 11, head rotation device 12, and fixing balloon 15 are pushed into the first pipe 1A using the pushing cable 14. By bending, the above-mentioned pushing operation is facilitated.

With the above configuration, the first embodiment provides the following effects (1) to (4).
(1) The head 11 is equipped with a water jet nozzle 17 that can inject ultra-high pressure water W to open a hole 2 in the pipe 1 together with a camera 16, and the head rotation device 12 rotates the head 11 around the rotation axis O. By jetting ultra-high pressure water W from the water jet nozzle 17 in this state, the hole 2 can be made in the second pipe 1B of the pipe 1 using the image from the camera 16. As a result, not only can the camera 16 capture images of the inside of the first pipe 1A and the second pipe 1B, but also the camera 16 of the head 11 can capture images of the inside of the second pipe 1B by passing the head 11 through the drilled hole 2. It is possible to obtain external images. As a result, the inside and outside of the piping 1 (first piping 1A, second piping 1B) can be inspected properly using these images.

(2) The head 11 of the pipe pushing device 10 is equipped with a camera 16 that can acquire images of the inside and outside of the pipe 1 and inspect the inside and outside of the pipe 1, as well as an ultra-high pressure water W for drilling holes 2 in the pipe 1. A water jet nozzle 17 is provided which can spray water. Therefore, the drilling of the hole 2 in the pipe 1 and the inspection and inspection of the inside and outside of the pipe 1 can be performed using the same pipe pushing device 10. As a result, compared to using a device for drilling holes 2 in pipe 1 and a device for inspecting the inside and outside of pipe 1 separately, work efficiency can be improved and work time can be shortened. can.

(3) The water jet nozzle 17 provided in the head 11 and for jetting ultra-high pressure water W is set to be inclined by a predetermined angle θ with respect to the rotation axis O of the head 11, and when the head 11 rotates, the water jet nozzle 17 A hole 2 having a diameter that allows the head 11 to pass through can be made in the second pipe 1B by using the ultra-high pressure water W injected from the hole 2. Therefore, when the head 11 passes through the hole 2 made in the second pipe 1B and the camera 16 of this head 11 acquires an image of the outside of the second pipe 1B, the image of this camera 16 can be used. Thus, the outside of the second pipe 1B can be accurately inspected.

(4) The fixing balloon 15 provided on the outer periphery of the head rotating device 12 in the pipe pushing device 10 expands and presses the inner wall of the first pipe 1A, thereby supporting the head rotating device 12 on the first pipe 1A. Therefore, when the ultra-high pressure water W is injected from the water jet nozzle 17 of the head 11 to make the hole 2 in the second pipe 1B, the reaction force of the injection of the ultra-high pressure water W causes the pipe pushing device 10 to move vertically and horizontally. Vibration (runout) can be suppressed. As a result, by jetting the ultra-high pressure water W from the water jet nozzle 17, it is possible to reliably make the hole 2 of the intended size (diameter) in the second pipe 1B.

[B] Second embodiment (Figure 4)
FIG. 4 is a side view showing a pipe pushing device according to a second embodiment. In this second embodiment, the same parts as in the first embodiment are given the same reference numerals as those in the first embodiment to simplify or omit the explanation.

The difference between the pipe pushing device 30 of the second embodiment and the first embodiment is that the fixing device 31 includes a plurality of fixing arms 32 installed at predetermined intervals on the outer periphery of the head rotation device 12 of the pipe pushing device 30. This is that each of the fixing arms 32 is extendable or contractible, and configured to be able to press the inner wall of the first pipe 1A of the pipe 1 when extended.

That is, in the fixing arm 32, two arm members 33A and 33B are pivotally supported by a fulcrum 34 provided at an intersecting position, and the base end of one arm member 33A is rotated by the head rotation device 12 by a fulcrum 35. The base end of the other arm member 33B is supported by the head rotation device 12 using a slider 36 so as to be movable in the axial direction of the head rotation device 12. Further, a pressing pad 37 is provided at the tip of the arm members 33A and 33B.

By moving the slider 36 of the arm member 33B of the fixing arm 32 in the axial direction of the head rotating device 12 using, for example, a control wire or a linear actuator, the fixing arm 32 is extended toward the inner wall of the first pipe 1A, Alternatively, it becomes possible to contract in the direction away from the inner wall of the first pipe 1A. By extending the fixing arm 32, the pressing pad 37 presses the inner wall of the first pipe 1A, thereby making it possible to support and fix the head rotating device 12 of the pipe pushing device 30 to the first pipe 1A. become.

As configured as above, the pipe pushing device 30 of the second embodiment also provides effects similar to effects (1) to (4) of the first embodiment.

[C] Third embodiment (Figure 5)
FIG. 5 is a side view showing the pipe pushing equipment according to the third embodiment. In the third embodiment, the same parts as in the first and second embodiments are given the same reference numerals as those in the first and second embodiments to simplify or omit the explanation.

The pipe pushing equipment 40 of the third embodiment has an operation of pushing the pipe pushing device 10 of the first embodiment or the pipe pushing device 30 (for example, the pipe pushing device 10) of the second embodiment into the first pipe 1A of the pipe 1. The pulling-back operation is mechanically performed using a push-in mechanism section 41, a pull-back mechanism section 42, and a guide mechanism section 43.

The pushing cable 14 of the piping pushing devices 10 and 30 is wound around a drum 45 that constitutes a pull-back mechanism section 42, and the portion pulled out from this drum 45 is connected to a pair of pushing rollers that constitute the pushing mechanism section 41. 44 and guided by a plurality of guide rollers 46 that constitute the guide mechanism section 43 .

A plurality of the pair of pushing rollers 44 are provided along the axial direction of the pushing cable 14 of the piping pushing devices 10 and 30, and are rotated (normally) while holding the pushing cable 14 between them. The head 11, head rotation device 12, and fixing device 13 (for example, fixing balloon 15) of the pipe pushing devices 10 and 30 connected to the cable 14 are moved in the pushing direction with respect to the first pipe 1A. In addition, the drum 45 is rotated (normally rotated) with the pushing cable 14 of the pipe pushing device 10, 30 wound around it, so that the head 11, the head rotation device 12, and the fixing device of the pipe pushing device 10, 30 are rotated (normally). 13 (for example, the fixing balloon 15) is moved in the pulling direction (opposite to the pushing direction) with respect to the first pipe 1A.

Here, the pushing roller 44 is designed to move the pushing cable 14 in the pulling direction toward the drum 45 in order to assist the movement of the head 11, head rotating device 12, etc. in the pulling direction by the drum 45. Reverse. In addition, the drum 45 is provided in a direction in which the pushing cable 14 is pulled out from the drum 45 (in the same direction as the pushing direction) in order to assist the movement of the head 11, head rotation device 12, etc. in the pushing direction by the pushing roller 44. ).

The guide roller 46 supports the pipe pushing devices 10, 30 (head 11, head rotating device 12, fixing device 13, and It guides the movement of the pushing cable 14), and when the drum 45 moves the pipe pushing devices 10, 30 in the pullback direction from the first pipe 1, the pipe pushing devices 10, 30 (head 11, head rotating device) 12. Guide the movement of the fixing device 13 and the pushing cable 14).

While the pipe pushing devices 10 and 30 are pushed into the first pipe 1A by the push roller 44 and the drum 45 and moved, the camera 16 of the head 11 acquires images of the inside of the first pipe 11A and the second pipe 1B, and In accordance with this, ultra-high pressure water W is jetted from the water jet nozzle 17 to make a hole 2 in the second pipe 1B, and the head 11 passes through the hole 2, so that the camera 16 of the head 11 is exposed to the outside of the second pipe 1B. Get the video of. After these operations are completed, the pipe pushing devices 10 and 30 are pulled back by the drum 45 and the pushing roller 44 as the pushing cable 14 is wound up.

Among these, the operation of drilling into the second pipe 1B and the operation of inspecting the outside of the second pipe 1B by the pipe pushing devices 10 and 30 performed by the pipe pushing equipment 40 will be explained using the flowcharts in FIGS. 6 to 9 and FIG. I will explain in detail. Note that the pipe 1 (first pipe 1A and second pipe 1B) in FIGS. 6 to 9 shows a cross-sectional state along the pipe axis.

As shown in FIG. 6, the pipe pushing equipment 40 is installed near the first pipe 1A in the pipe 1 to be inspected, and the pipe pushing devices 10 and 30 of the pipe pushing equipment 40 are connected to the inlet of the first pipe 1A. 3 or in the first pipe 1A (S1).

Next, as shown in FIG. 7, the piping pushing equipment 40 rotates the pushing roller 44 (normally) and rotates the drum 45 in the direction in which the pushing cable 14 is pulled out (reversely). 11. Push the head rotating device 12 and the fixing device 13 (for example, the fixing balloon 15) into a predetermined investigation position in the first pipe 1A (S2). Depending on the situation, such as when a problem occurs in the pushing operation of the head 11 and the head rotating device 12, the piping pushing equipment 40 reverses the pushing roller 44 and rotates the drum 45 in the forward direction to rotate the head 11 and the head rotation device 12. The rotating device 12 and the like are once pulled back, the push roller 44 is rotated in the normal direction again, and the drum 45 is rotated in the reverse direction to push the head 11, the head rotating device 12, etc. into the first pipe 11A while adjusting the pushing amount (S3).

As shown in FIG. 8, when the head 11, head rotation device 12, etc. reach the hole-drilling position in the second pipe 1B, the piping pushing equipment 40 uses a pushing roller 44 and a drum 45 to move the head 11, head rotation device 12, etc. etc., are stopped (S4). After this stop, the pipe pushing equipment 40 inflates the fixing balloon 15 and presses it against the inner wall of the first pipe 11A, thereby fixing the head rotating device 12 to the first pipe 1A (S5). Next, the pipe pushing equipment 40 makes a hole in the second pipe 1B by jetting ultra-high pressure water W from the water jet nozzle 17 of the head 11 while rotating the head 11 using the head rotating device 12 (S6).

Next, as shown in FIG. 9, the pipe pushing equipment 40 slightly shrinks the fixing balloon 15 to reduce the frictional force between the fixing balloon 15 and the inner wall of the first pipe 1A (S7). . In this state, the pipe pushing equipment 40 rotates the pushing roller 44 in the normal direction and rotates the drum 45 in the reverse direction to push the head 11, head rotation device 12, etc., and inserts the head 11 into the hole 2 made in the second pipe 1B. The camera 16 of this head 11 is caused to fly out from the hole 2 to the outside of the second pipe 1B (S8). The pipe pushing equipment 40 uses this camera 16 to acquire an image of the outside of the second pipe 1B, and inspects the outside of the second pipe 1B (S8).

Since the third embodiment configured as described above has the pipe pushing devices 10 and 30 of the first and second embodiments, it has the effects (1) to (4) of the first and second embodiments. In addition to producing similar effects, the following effect (5) is also produced.

(5) The pushing roller 44 of the pushing mechanism section 41 pinches and drives the pushing cable 14 of the piping pushing device 10, 30, and together with the drum 45 of the pulling mechanism section 42, the pushing roller 44 of the piping pushing device 10, 30 is driven. The first pipe 1A is moved in the pushing direction, and the drum 45 winds and drives the pushing cable 14 of the pipe pushing device 10, 30, and together with the pushing roller 44, the pipe pushing device 10, 30 is moved. is moved in the pullback direction with respect to the first pipe 1A, so the pipe pushing devices 10, 30 can be moved to a remote location. Therefore, even if the remote location is in an environment where humans cannot approach, such as under a radiation environment, the pipe pushing devices 10 and 30 can inspect the inside of the pipe 1 at the remote location, and the hole 2 can be drilled into the pipe 1. By opening the hole 2, the outside of the piping 1 can be inspected using the hole 2.

Although several embodiments of the present invention have been described above, these embodiments are presented as examples and are not intended to limit the scope of the invention. These embodiments can be implemented in various other forms, and various omissions, substitutions, and changes can be made without departing from the gist of the invention, and those substitutions and changes can be made. are included within the scope and gist of the invention, and are included within the scope of the invention described in the claims and its equivalents.

For example, in the above embodiment, the second pipe 1B was explained as an example of a general pipe, but the second pipe 1B can be applied to a water supply sparger or a core spray sparger installed on the inner surface of the reactor pressure vessel. It is.

1... Piping, 2... Hole, 10... Piping pushing device, 11... Head, 12... Head rotation device, 13... Fixing device, 14... Pushing cable, 15... Fixing balloon, 16... Camera (image acquisition device), 17... Water jet nozzle, 21... Swivel joint, 22... Motor, 25... Rotating mechanism, 30... Piping pushing device, 31... Fixing device, 32... Fixing arm, 40... Piping pushing equipment, 41... Pushing mechanism part, 42 ...pullback mechanism section, 44...pushing roller, 45...drum, O...rotating shaft, W...ultra high pressure water, θ...predetermined angle

Claims (8)

A pipe pushing device that is pushed and inserted into a pipe,
a head equipped with an illuminated image acquisition device capable of acquiring images;
a head rotation device including a rotation mechanism that rotates the head around its rotation axis;
a pushing cable connected to the opposite side of the head of the head rotating device for pushing the head rotating device;
The head is provided with a water jet nozzle capable of injecting high-pressure water to create a hole in the piping with a diameter that allows the head to pass through in the direction in which the head rotation device is pushed, together with the image acquisition device. A piping pushing device characterized by: The piping pushing device according to claim 1, further comprising a fixing device provided outside the head rotating device and supporting and fixing the head rotating device to the piping by pressing an inner wall of the piping. . The water jet nozzle is set to be inclined at a predetermined angle with respect to the rotation axis of the head, and sprays high-pressure water while the head is rotating around the rotation axis, thereby forming a hole in the piping through which the head can pass. The piping pushing device according to claim 1 or 2, characterized in that it is configured to open a pipe. The fixing device includes a fixing balloon that can be inflated or deflated and can press the inner wall of the pipe when inflated, or a fixing arm that can be expanded or deflated and can press the inner wall of the pipe when expanded. The piping pushing device according to claim 2, characterized in that: A pipe pushing device according to any one of claims 1 to 4,
a pushing mechanism section that clamps and drives the pushing cable of the pipe pushing device to move the pipe pushing device in the pushing direction;
A pipe pushing equipment comprising: a pull-back mechanism section that winds and drives the pushing cable of the pipe push-in device to move the pipe push-in device in a pull-back direction. A pipe pushing device according to any one of claims 1 to 4,
a pushing mechanism section that clamps and drives a pushing cable of the pipe pushing device to move the pipe pushing device in a pushing direction and a pulling back direction;
A piping pushing equipment comprising: a drum that winds the pushing cable in conjunction with the rotating direction of the pushing mechanism and pulls out or winds up the pushing cable. A device installation step of installing the pipe pushing device according to any one of claims 1 to 4 into a pipe;
a device moving step of pushing the pipe pushing device into a predetermined investigation position within the pipe;
A pipe drilling step of fixing the pipe pushing device after reaching a drilling position in the pipe, and drilling a hole in the pipe with high pressure water released from the pipe pushing device;
A method for inspecting the outside of a pipe, comprising the step of inspecting the outside of the pipe through a hole drilled in the pipe using an image acquisition device provided in the pipe pushing device. 8. The outside piping inspection method according to claim 7, wherein the piping is a water supply sparger or a core spray sparger installed on the inner surface of the reactor pressure vessel.

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