JPH11128864A - Method for cleaning and inspecting branch pipe and device therefor - Google Patents

Abstract

PROBLEM TO BE SOLVED: To make it possible to surely and easily execute inspecting and cleaning in a branch pipe from a main pipe side. SOLUTION: This branch pipe cleaning and inspecting device is constituted to include a monitor device and fluid pump installed on the ground, a freely flexible elastic hose 1 connected at one end to this monitor device and a fluid pump, a monitor unit 4 (TV camera 6) and nozzle 5 for cleaning connected to the other end of the elastic hose 1, a driving device 10 for advancing and retreating the elastic hose 1 by the action of fluid pressure and an in-pipe working robot 16 for supporting part of the elastic hose 1 and bending the same. The elastic hose 1 is forcibly pushed into the branch pipe 51 by the driving force of the driving device 10 as well in addition to the propulsion force generated by the injection of the high-pressure water (pressure fluid) from the nozzle 5 for cleaning and, therefore, even if plural bends exist at the branch pipe 51, the inspecting and cleaning of the branch pipe 51 are easily carried out by smoothly inserting the elastic hose 1, the TV camera 6 and the nozzle 5 for cleaning into the branch pipe 51.

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a branch pipe cleaning / inspection method for inspecting the inside of a branch pipe and cleaning at the same time, and a branch pipe cleaning / inspection apparatus for carrying out the method.

[0002]

2. Description of the Related Art As shown in FIG. 11, a branch pipe 1 extending from a sewer user's house and joining a sewer pipe 150 as a main pipe.
51 is regularly cleaned and inspected, but in many cases, a tub (service wrap) 152 is provided between the sewer pipe 150 and the house.
Is usually provided, the branch pipe 1
Cleaning and inspection inside 51 can be performed relatively easily.

[0003] However, in rare cases, a basin (service wrap) is not provided. In such a case, it is impossible to clean and inspect the basin. Had to be cleaned and inspected. Specifically, a flexible elastic hose is advanced by the propulsive force of high-pressure water jetted backward from a cleaning nozzle attached to the tip of the hose, and is passed through a sewer pipe (main pipe) into a branch pipe. Introduced, the inside of the branch pipe was inspected with a TV camera attached to the tip thereof, and the inside of the branch pipe was cleaned with water jetted backward from the cleaning nozzle.

[0004]

However, in the conventional cleaning / inspection method described above, the elastic hose travels straight because it travels by the propulsive force of water that is jetted backward from the cleaning nozzle attached to the tip of the elastic hose. In general, it is often not easy to smoothly feed an elastic hose along a bent branch pipe to clean and inspect the inside of the branch pipe.

SUMMARY OF THE INVENTION The present invention has been made in view of the above problems, and an object of the present invention is to provide a branch pipe cleaning / inspection in which inspection and cleaning of a branch pipe can be performed reliably and easily from the main pipe side. It is to provide a method and an apparatus.

[0006]

In order to achieve the above-mentioned object, according to the present invention, there is provided a monitor device and a fluid pump installed on the ground, and a bending device having one end connected to the monitor device and the fluid pump. A flexible elastic hose, a TV camera and a cleaning nozzle connected to the other end of the elastic hose, a driving device for moving the elastic hose back and forth by the action of fluid pressure, and a portion of the elastic hose. A branch pipe cleaning / inspection device is characterized by including an in-pipe work robot that bends this.

According to a second aspect of the present invention, in the first aspect, at least an electric cable and a fluid hose are passed through the elastic hose.

According to a third aspect of the present invention, in the first aspect of the invention, the driving device is connected to a cylinder member through which the elastic hose is inserted, and is slid in the cylinder member by being connected to an outer periphery of the elastic hose. And a pressure fluid supply means for alternately supplying a pressurized fluid to a closed space in the cylinder member defined by the piston member.

According to a fourth aspect of the present invention, in the first aspect of the present invention, the driving device includes a flexible pressure bag,
The pressure bag is constituted by a pair of rollers attached to the elastic hose and sandwiching the pressure bag, and pressure fluid supply means for alternately supplying a pressure fluid to a closed space in the pressure bag defined by the rollers. Features.

According to a fifth aspect of the present invention, in the first aspect of the present invention, the elastic hose is passed through a flexible tubular guide member and a part thereof is supported by the in-pipe work robot. And

According to a sixth aspect of the present invention, in the fifth aspect of the invention, the cylindrical guide member is formed of a coil spring.

According to a seventh aspect of the present invention, in the first aspect of the present invention, the cleaning nozzle is constituted by a reverse injection nozzle.

According to an eighth aspect of the present invention, in the first aspect of the invention, a plurality of the reverse injection nozzles are attached to the elastic hose.

According to a ninth aspect of the present invention, in the first aspect of the present invention, a transmitter is attached to the tip of the elastic hose or to the TV camera or cleaning nozzle attached to the tip. .

According to a tenth aspect of the present invention, in the first aspect of the present invention, a TV camera is installed on the in-pipe working robot, and a display unit for indicating a length is provided on the elastic hose.

According to an eleventh aspect of the present invention, a driving device and an in-pipe working robot operated by fluid pressure are installed near a branch pipe opening in a main pipe, and one end is connected to a monitor device and a fluid pump installed on the ground. A part of the flexible elastic hose is supported by the work robot to bend the elastic hose, and the propulsive force of the pressurized fluid ejected from the cleaning nozzle attached to the distal end and the driving device An elastic hose is introduced into the branch pipe through the main pipe by the driving force, and T is attached to the distal end of the elastic hose.
The inside of the branch pipe is inspected by the monitor device using a V-camera, and the inside of the branch pipe is cleaned by the pressurized fluid ejected from the cleaning nozzle.

According to a twelfth aspect of the present invention, in the invention of the eleventh aspect, the elastic hose is passed through a flexible tubular guide member supported by the in-pipe work robot, and the in-pipe work robot is driven. It is characterized in that an elastic hose is bent to introduce its tip into the branch pipe.

According to a thirteenth aspect of the present invention, in the eleventh aspect of the present invention, the cleaning nozzle comprises a reverse injection nozzle, and a plurality of reverse injection nozzles are attached to the elastic hose. Is reversely injected.

According to a fourteenth aspect of the present invention, in the eleventh aspect of the present invention, a transmitter is attached to the distal end of the elastic hose or the TV camera or the cleaning nozzle attached to the distal end, and the transmission is performed from the transmitter. The distal end of the elastic hose is detected by receiving a received signal by a receiver.

According to a fifteenth aspect of the present invention, in the eleventh aspect of the present invention, a TV camera is installed on the in-pipe work robot, and a display unit for indicating a length is provided on the elastic hose. The length of introduction of the elastic hose into the branch pipe is detected by monitoring with a camera.

Therefore, according to the present invention, the elastic hose is forcibly pushed into the branch pipe by the driving force of the driving device in addition to the propulsive force generated by the ejection of the pressure fluid from the cleaning nozzle. Even if there are a plurality of bends in the pipe, the elastic hose, TV camera and cleaning nozzle are smoothly inserted into the branch pipe to facilitate inspection and cleaning of the branch pipe.
And it can be performed reliably. Since the driving device is installed near the branch pipe opening of the main pipe, the elastic hose can be efficiently pushed into the branch pipe.

[0022]

Embodiments of the present invention will be described below with reference to the accompanying drawings.

<Embodiment 1> FIG. 1 is a sectional view showing a branch pipe cleaning / inspection apparatus according to Embodiment 1 of the present invention and a branch pipe cleaning / inspection method constructed using the apparatus, and FIGS. 3 is a cross-sectional view showing the configuration and operation of a driving device constituting the branch pipe cleaning / inspection device, and FIG. 4 is an enlarged cross-sectional view taken along line AA of FIG.

In FIG. 1, reference numeral 50 denotes a main pipe such as a sewer pipe,
Reference numeral 1 denotes a small-diameter branch pipe extending from a house on the ground and joining the main pipe 50. In the present embodiment, a square (service wrap) is not provided between the main pipe 50 and the house. It is not possible to clean and inspect the branch pipe 51 from the service wrap). In such a case, cleaning and inspection of the branch pipe 51 are performed simultaneously using the branch pipe cleaning / inspection apparatus according to the present invention. The configuration of the branch pipe cleaning / inspection apparatus according to the present embodiment will be described below. .

In FIG. 1, reference numeral 1 denotes a flexible elastic hose, in which an electric cable 2 and a fluid hose 3 are passed as shown in FIG. One end of the elastic cable 1 is connected to a T (not shown) installed on the ground.
It is connected to a V monitor device and a water pump. That is, the electric cable 2 inserted into the elastic hose 1
Is connected to a TV monitor device (not shown), and one end of the fluid hose 3 is connected to a discharge port of a water pump (not shown).

On the other hand, a monitor unit 4 and a reverse jet nozzle 5 as a cleaning nozzle are attached to the distal end of the elastic hose 1 in two upper and lower stages, and the monitor unit 4 has a TV camera 6 in the center thereof. A plurality of illumination lights 7 are arranged around the TV camera 6. The TV camera 6 and the illumination light 7 are connected to the electric cable 2 inserted in the elastic hose 1, and the reverse jet nozzle 5 is connected to the fluid hose 3 also inserted in the elastic hose 1. ing.

In FIG. 1, reference numeral 10 denotes a drive unit for mechanically moving the elastic hose 1 back and forth. As shown in detail in FIGS. 2 and 3, the drive unit 10 serves as a cylinder member. The elastic hose 1 is inserted through the pressure hose 11, and the insertion portions of the elastic hose 1 at both ends in the length direction of the pressure hose 11 are hermetically sealed by a sealing member 12. Sealed. A ring-shaped pig 13 as a piston member that slides airtightly along the inner peripheral surface of the pressure hose 11 is attached to the outer periphery of a portion of the elastic hose 1 inserted into the pressure hose 11. In the pressure hose 11, two closed spaces S1 and S2 are defined by a pig 13.

The pressure hose 11 is connected to air hoses 14, 15 which open into the closed spaces S1, S2 formed inside the pressure hose 11, respectively. The air hoses 14, 15 are not shown. It is connected to a compressor (not shown) installed on the ground via a switching valve.

Further, in FIG. 1, there are 16 working robots, and the main body 16a of the working robot 16 has a sled 16a.
The head 16c is supported at the front end of the main body 16a by a hydraulic pressure, and is provided with a head 16c which advances and retreats in a direction indicated by an arrow a and rotates in a direction indicated by an arrow b.
A hydraulic cylinder 17 is installed in 6c. And
A coil spring 18 as a cylindrical guide member is supported at the tip of a rod 17a that moves up and down in the direction of arrow c of the hydraulic cylinder 17.
The elastic hose 1 extending forward (toward the branch pipe 21) from the driving device 10 is inserted through the inside of the inside. Therefore,
A part of the elastic hose 1 is supported by a work robot 16 via a coil spring 18, and a scale 19 indicating a length is displayed on an outer periphery of a part of the elastic hose 16 which is ahead of the driving device 10. .

A lift 16d and a TV camera 20 are provided above the main body 16a of the working robot 16.
A fixed part 16e is attached to the upper part of the lift 16d,
The TV camera 20 is electrically connected to a TV monitor device (not shown) installed on the ground via an electric cable 21.

Further, a hydraulic hose 22 from a hydraulic pump (not shown) installed on the ground is connected to the main body 16a of the working robot 16, and a tow rope 2 is connected to the sled 16b.
3, 24 are attached respectively. The working robot 16 and the driving device 10 are connected to each other by a tow rope 24, and a tow rope 25 is attached to the driving device 10.

Next, the operation of cleaning and inspecting the branch pipe 51 using the apparatus for cleaning and inspecting a branch pipe having the above configuration will be described.

When cleaning and checking the inside of the branch pipe 51 from the main pipe 50 side, as shown in FIG. 1, the working robot 16 supporting a part of the elastic hose 1 via the coil spring 18 and the drive unit 10 Is introduced into the main pipe 50, and the work robot 16 and the driving device 10 are monitored while the inside of the main pipe 50 is monitored by the TV camera 20 installed on the work robot 16.
Is fixedly set in the vicinity of a branch pipe opening (a part where the branch pipe 51 opens to the main pipe 50) 50a in the main pipe 50. That is, the lift 16 d of the work robot 16 is raised, and the fixing portion 16 e attached to the upper end thereof is pressed against the inner wall of the main pipe 50 to fix the work robot 16.

In the above state, a water pump (not shown) installed on the ground is driven to supply high-pressure water via a fluid hose 3 inserted into the elastic hose 1 to a reverse injection nozzle attached to the distal end of the elastic hose 1. 5 and the high-pressure water is reversely injected from the reverse injection nozzle 5 (injection in a direction opposite to the direction of travel of the elastic hose 1), and at the same time, the driving device 10 is driven. Then, the elastic hose 1 advances in the main pipe 50 by both the propulsive force generated by the reverse injection of the high-pressure water from the reverse injection nozzle 5 and the driving force of the driving device 10.

Here, the operation of the driving device 10 will be described with reference to FIGS.

When the pig 13 sliding in the pressure hose 11 of the driving device 10 together with the elastic hose 1 is located at the leftmost position in the pressure hose 11 as shown in FIG. When the compressed air is supplied to the closed space S1 in the pressure hose 11 via the pressure hose 11, the pig 13 advances in the direction of the arrow shown by the pressure of the compressed air. The hose 1, the monitor unit 4 (TV camera 6 and illumination light 7) attached to the end of the hose 1, and the reverse injection nozzle 5 are forcibly advanced by a predetermined driving force based on the pressure of the compressed air. At this time,
The air in the other closed space S2 is discharged to the atmosphere via the air hose 15.

On the other hand, when the pig 13 is located at the rightmost position in the pressure hose 11 as shown in FIG. 3, compressed air is supplied from the compressor (not shown) via the air hose 15 to the closed space S2 in the pressure hose 11. When the pig 13 is supplied, the pig 13 moves backward in the direction of the arrow shown by the pressure of the compressed air, so that the elastic hose 1 moves in the same direction together with the pig 13, and as a result, the elastic hose 1 and the monitor unit 4 ( The TV camera 6, the illumination light 7) and the reverse injection nozzle 5 are forcibly moved backward by a predetermined driving force based on the pressure of the compressed air. At this time,
The air in the other closed space S1 is discharged to the atmosphere via the air hose 14.

As described above, the elastic hose 1 is advanced in the main pipe 50 by both the propulsive force generated by the reverse injection of the high-pressure water and the mechanical drive force of the drive unit 10, and its distal end Monitor unit 4 attached to
(TV camera 6 and illumination light 7) and reverse injection nozzle 5
Reaches the branch pipe opening 50a of the main pipe 50, the work robot 16 is driven to bend the coil spring 18 attached to the rod 17a of the hydraulic cylinder 17 together with the elastic hose 1 so that the distal end of the elastic hose 1 The monitor unit 4 and the reverse jet nozzle 5 attached to the tip are introduced into the branch pipe 51.

As described above, when the distal end of the elastic hose 1 and the monitor unit 4 and the reverse injection nozzle 5 attached thereto are introduced into the branch pipe 51, these are propelled by the reverse injection of high-pressure water. And the driving force of the driving device 10 both move forward in the branch pipe 51. In the process, the inside of the branch pipe 51 is imaged by the TV camera 6, and the inside of the branch pipe is inspected by the TV monitor device installed on the ground. At the same time, the inside of the branch pipe 51 is cleaned by high-pressure water reversely injected from the reverse injection nozzle 5. At the same time, the length of insertion of the elastic hose 1 into the branch pipe 51 can be detected by reading the scale display 19 attached to the outer periphery of the elastic hose 1 by the TV camera 20 installed on the working robot 16, Thereby, the position of the branch pipe 51 can be confirmed on the ground. Therefore, after cleaning and inspection of the branch pipe 51 are completed, the detected branch pipe 51 can be dug up and a box (service wrap) can be attached to that part.

In this embodiment, the elastic hose 1 is forced into the branch pipe 51 by the driving force of the driving device 10 in addition to the propulsive force generated by the reverse injection of the high-pressure water from the reverse injection nozzle 5. Even if a plurality of bends are present in the branch pipe 51, the elastic hose 1, the monitor unit 4 (TV camera 6 and illumination light 7), and the reverse injection nozzle 5 can be smoothly inserted into the branch pipe 51. Into the branch pipe 51
Inspection and cleaning can be performed easily and reliably.
Since the drive device 10 is installed near the branch pipe opening 50a of the main pipe 50, the elastic hose 1 can be efficiently pushed into the branch pipe 51.

If the elastic hose 1 is pulled back by pulling the pulling rope 25 while reversely injecting high-pressure water from the reverse injection nozzle 5, the reverse injection nozzle 5 moves downward in the branch pipe 51, The inside of the branch pipe 51 is further cleaned by the high-pressure water reversely injected from the reverse injection nozzle 5, and the sediment, dirt, and the like adhering to the inner wall of the branch pipe 51 are reliably removed. Opening to pipe 50 (branch opening 50
By pulling back to a), the removed sediment, dirt, and the like can be dropped into the main pipe 50 together with water. In this case, since the elastic hose 1 is supported by the coil spring 18, soil and dirt falling from the branch pipe 51 into the main pipe 50 pass through the coil spring 18,
These do not accumulate in the coil spring 18.

<Second Embodiment> Next, a second embodiment of the present invention will be described with reference to FIGS. FIG. 5 is a sectional view showing a branch pipe cleaning / inspection apparatus according to the present embodiment and a branch pipe cleaning / inspection method constructed using the apparatus. FIGS. 6 and 7 show a branch pipe cleaning / inspection apparatus. FIG. 5 is a cross-sectional view showing a configuration and an operation of a driving device to perform the same operation. In these drawings, the same elements as those shown in FIG. 1 to FIG.
Hereinafter, the description thereof will be omitted.

The present embodiment is different from the first embodiment only in the configuration of the drive device of the branch pipe cleaning / inspection device.

That is, the driving device 30 according to the present embodiment
Has a sealed flexible pressure bag 31 and a pair of rollers 32 attached to the elastic hose 1 to clamp the pressure bag 31. As shown in FIGS. Two sealed spaces S1 and S2 are defined in the roller 31 by the roller 32. The pressure bag 31 has the closed space S formed therein.
Air hoses 33 and 34, which open to S1 and S2, respectively, are connected. Each of the air hoses 33 and 34 is connected to a compressor (not shown) installed on the ground via a switching valve (not shown).

Here, the operation of the driving device 30 configured as described above will be described with reference to FIGS.

When a pair of rollers 32 for holding the pressure bag 31 of the driving device 30 are located near the left end of the pressure bag 31 as shown in FIG. Is supplied to the closed space S1 in the pressure bag 31, the closed space S1 expands due to the pressure supplied in the closed space S1. Move (forward) in the direction. As a result, the elastic hose 1 moves in the same direction together with the roller 32, and as a result, the elastic hose 1 and the monitor unit 4 and the reverse jet nozzle 5 attached to the tip end thereof are driven by a predetermined driving force based on the pressure of the compressed air. You are forced to move forward. At this time, the air in the other closed space S2 is discharged to the atmosphere via the air hose 34.

On the other hand, as shown in FIG.
When compressed air is supplied from the compressor (not shown) to the closed space S2 in the pressure bag 31 through the air hose 34 in a state where the pressure air is located near the right end of the pressure bag 31, the pressure supplied in the closed space S2 As a result, the closed space S2 expands, so that the pair of rollers 32 move (reverse) in the direction of the arrow shown in FIG. 7 while deforming the pressure bag 31. As a result, the elastic hose 1 moves in the same direction together with the roller 32, and as a result, the elastic hose 1 and the monitor unit 4 and the reverse jet nozzle 5 attached to the tip end thereof are driven by a predetermined driving force based on the pressure of the compressed air. She is forced to go backwards. At this time, the air in the other closed space S1 is discharged to the atmosphere via the air hose 33.

Thus, also in the present embodiment, the elastic hose 1 is driven not only by the driving force of the driving device 30 but also by the driving force of the driving device 30 in addition to the propulsive force generated by the reverse injection of the high-pressure water from the reverse injection nozzle 5.
Can be forcibly pushed into the branch pipe 51, so that the elastic hose 1, the monitor unit 4, and the reverse injection nozzle 5 can be smoothly inserted into the branch pipe 51 to easily inspect and clean the branch pipe 51, and It can be done reliably.

Note that, as shown in FIG.
If a signal transmitted from the transmitter 35 is received by a receiver on the ground, the tip of the elastic hose 1 can be detected, and the position of the branch pipe 51 can be confirmed on the ground. can do. Therefore, after cleaning and inspection of the branch pipe 51 are completed, the detected branch pipe 51 can be dug up and a box (service wrap) can be attached to that part. Here, the transmitter 35 may be attached to the reverse injection nozzle 5.

Third Embodiment Next, a third embodiment of the present invention will be described with reference to FIG. FIG. 8 is a sectional view showing a branch pipe cleaning / inspection apparatus according to Embodiment 3 of the present invention and a branch pipe cleaning / inspection method constructed using the same. In this figure, the same elements as those shown in FIG. Are denoted by the same reference numerals, and description thereof will be omitted below.

In the present embodiment, the same driving device as that of the first embodiment is used, but a self-propelled working robot 16 is used. They are attached to form a unit. A part of the elastic hose 1 is passed through a guide pipe 36 which is a flexible tubular guide member, and is supported by the work robot 16 via the guide pipe 36.

Thus, also in the present embodiment, the elastic hose 1 is driven not only by the driving force of the driving device 10 but also by the driving force of the driving device 10 in addition to the propulsive force generated by the reverse injection of the high-pressure water from the reverse injection nozzle 5.
Can be forcibly pushed into the branch pipe 51, so that the elastic hose 1, the monitor unit 4, and the reverse injection nozzle 5 can be smoothly inserted into the branch pipe 51 to easily inspect and clean the branch pipe 51, and It can be done reliably.

As shown in FIG. 9, the TV camera 6 and the illuminating light 7 are configured as a monitor unit 4 separate from the reverse injection nozzle 5, and this monitor unit 4 is connected to the reverse injection nozzle 5 by a connector 40. You may make it attach detachably.

Also, as shown in FIG.
And the fluid hose 3 are bundled to form the elastic hose 1, and the monitor unit 4 including the TV camera 6, the illumination light 7 and the amplification or image processing board 41 is detachably attached to the distal end of the electric cable 2 by the connector 42. Attachment, a reverse jet nozzle 5 as a cleaning nozzle may be attached to the tip of the fluid hose 3.

Incidentally, although not shown, if a plurality of reverse injection nozzles are attached to the elastic hose, a greater thrust can be obtained by reverse injection of high-pressure water from the reverse injection nozzle.

[0056]

As is apparent from the above description, according to the present invention, the drive unit and the in-pipe working robot operated by fluid pressure are installed near the branch pipe opening in the main pipe, and the monitor installed on the ground is installed. A part of a flexible elastic hose, one end of which is connected to the device and the fluid pump, is supported by the work robot to bend the elastic hose, and the pressure ejected from a cleaning nozzle attached to the distal end. An elastic hose is introduced into the branch pipe through the main pipe by the propulsive force of the fluid and the driving force of the driving device, and the inside of the branch pipe is inspected by the monitor device using a TV camera attached to the tip of the elastic hose, and Since the inside of the branch pipe is cleaned by the pressure fluid injected from the cleaning nozzle, the thrust generated by the injection of the pressure fluid from the cleaning nozzle is reduced. In addition, the elastic hose can be forcibly pushed into the branch pipe by the driving force of the driving device, and even if the branch pipe has a plurality of bends, the elastic hose, the TV camera, and the cleaning nozzle can be smoothly inserted into the branch pipe. The effect that the inspection and cleaning of the branch pipe by insertion can be performed easily and reliably can be obtained.

[Brief description of the drawings]

FIG. 1 is a cross-sectional view showing a branch pipe cleaning / inspection apparatus according to Embodiment 1 of the present invention and a branch pipe cleaning / inspection method constructed using the apparatus.

FIG. 2 is a cross-sectional view showing a configuration and an operation of a drive device of the branch pipe cleaning / inspection apparatus according to Embodiment 1 of the present invention.

FIG. 3 is a cross-sectional view illustrating a configuration and an operation of a driving device of the branch pipe cleaning / inspection apparatus according to Embodiment 1 of the present invention.

FIG. 4 is an enlarged sectional view taken along line AA of FIG. 1;

FIG. 5 is a cross-sectional view showing a branch pipe cleaning / inspection apparatus according to Embodiment 2 of the present invention and a branch pipe cleaning / inspection method constructed using the apparatus.

FIG. 6 is a cross-sectional view illustrating a configuration and an operation of a drive device of a branch pipe cleaning / inspection apparatus according to Embodiment 2 of the present invention.

FIG. 7 is a cross-sectional view illustrating a configuration and an operation of a drive device of a branch pipe cleaning / inspection apparatus according to Embodiment 2 of the present invention.

FIG. 8 is a sectional view showing a branch pipe cleaning / inspection apparatus according to Embodiment 3 of the present invention and a branch pipe cleaning / inspection method constructed using the apparatus.

FIG. 9 is a cross-sectional view showing another embodiment of the branch pipe cleaning / inspection apparatus according to the present invention.

FIG. 10 is a sectional view showing another embodiment of the branch pipe cleaning / inspection apparatus according to the present invention.

FIG. 11 is a sectional view showing a sewer pipe (main pipe), a branch pipe, and a basin (service wrap).

[Explanation of symbols]

 DESCRIPTION OF SYMBOLS 1 Elastic hose 2 Electric cable 3 Fluid hose 4 Monitor unit 5 Reverse injection nozzle 6 TV camera 7 Lighting light 10 Drive device 11 Pressure hose (cylinder member) 13 Pig (piston member) 16 Pipe work robot 18 Coil spring (tubular guide) 19) Scale display (display unit) 20 TV camera 30 Drive unit 31 Pressure bag 32 Roller 35 Transmitter 36 Guide pipe (tubular guide member) S1, S2 Sealed space

 ──────────────────────────────────────────────────続 き Continued on the front page (72) Inventor Yasuhiro Yokoshima 175-3 Shinoyama, Ishishita-cho, Yuki-gun, Ibaraki Pref. Yokoshima Co., Ltd. (72) Inventor Shigeru Endo 2-12-4 Hanata, Tsukuba-shi, Ibaraki Inside

Claims (15)

[Claims] A monitor device and a fluid pump installed on the ground; a flexible elastic hose having one end connected to the monitor device and the fluid pump; a TV camera connected to the other end of the elastic hose; A cleaning nozzle, a drive device for moving the elastic hose forward and backward by the action of fluid pressure, and an in-pipe work robot that supports a part of the elastic hose and bends it. Branch pipe cleaning and inspection equipment. 2. The branch pipe cleaning and inspection device according to claim 1, wherein at least an electric cable and a fluid hose are passed through the elastic hose. 3. The driving device includes: a cylinder member through which the elastic hose is inserted; a piston member connected to an outer periphery of the elastic hose to slide in the cylinder member; 2. The branch pipe cleaning / inspection apparatus according to claim 1, further comprising pressure fluid supply means for alternately supplying pressure fluid to a closed space in the cylinder member. 4. The driving device includes: a flexible pressure bag; a pair of rollers attached to the elastic hose to sandwich the pressure bag; and a closed space in the pressure bag defined by the rollers. 2. A branch pipe cleaning / inspection apparatus according to claim 1, further comprising pressure fluid supply means for alternately supplying pressure fluid to the branch pipe. 5. The branch pipe cleaning / inspection apparatus according to claim 1, wherein the elastic hose is passed through a flexible tubular guide member and a part thereof is supported by the in-pipe work robot. 6. The branch pipe cleaning / inspection apparatus according to claim 5, wherein said tubular guide member is constituted by a coil spring. 7. The branch pipe cleaning / inspection apparatus according to claim 1, wherein said cleaning nozzle comprises a reverse injection nozzle. 8. The branch pipe cleaning / inspection apparatus according to claim 1, wherein a plurality of said reverse injection nozzles are attached to said elastic hose. 9. The branch pipe cleaning and cleaning device according to claim 1, wherein a transmitter is attached to the tip of the elastic hose or the TV camera or the cleaning nozzle attached to the tip of the elastic hose.
Inspection device. 10. The branch pipe cleaning / inspection apparatus according to claim 1, wherein a TV camera is installed on the in-pipe work robot, and a display unit indicating a length is provided on the elastic hose. 11. A drive device and an in-pipe work robot operated by fluid pressure are installed near a branch pipe opening in a main pipe,
A part of a flexible elastic hose, one end of which is connected to a monitor device and a fluid pump installed on the ground, is supported by the work robot to bend the elastic hose, and a cleaning device attached to a tip portion. An elastic hose is introduced into the branch pipe through the main pipe by the driving force of the pressurized fluid ejected from the nozzle and the driving force of the driving device, and the inside of the branch pipe is monitored by the TV camera attached to the distal end of the elastic hose. And cleaning the inside of the branch pipe with a pressure fluid ejected from the cleaning nozzle. 12. The elastic hose is passed through a flexible tubular guide member supported by the in-pipe work robot, and the in-pipe work robot is driven to bend the elastic hose to introduce the distal end into the branch pipe. The method for cleaning and inspecting a branch pipe according to claim 11, wherein 13. The cleaning nozzle comprises a reverse injection nozzle, and a plurality of reverse injection nozzles are attached to the elastic hose so that a pressure fluid is reverse injected from the reverse injection nozzle. 11. The method for cleaning and inspecting a branch pipe according to item 11. 14. An elastic hose is attached to a distal end portion of the elastic hose or the TV camera or cleaning nozzle attached thereto, and a signal transmitted from the transmitter is received by a receiver. The branch pipe cleaning and cleaning device according to claim 11, wherein a tip portion of the branch pipe is detected.
Inspection method. 15. A TV camera is installed on the in-pipe work robot, and a display unit for indicating a length is provided on the elastic hose, and the display unit is monitored by the TV camera to introduce the elastic hose into the branch pipe. The branch pipe cleaning and cleaning device according to claim 11, wherein the length is detected.
Inspection method.