JP4559272B2 - In-pipe inspection device - Google Patents

Description

  The present invention relates to an in-pipe inspection apparatus used when inspecting a buried pipe by a shock elastic wave method.

Recently, in sewage pipes and agricultural water pipes, accidents such as depression and water leakage are increasing due to corrosive wear and breakage of buried pipes over time. For this reason, appropriate deterioration diagnosis and appropriate repair / updating based on the diagnosis result are required.
In this deterioration diagnosis of sewage pipes and agricultural water pipes, in general, in order to determine the order of repair and reconstruction works and the construction method, ranking of the degree of deterioration between the element areas constituting the survey basin and quantitative It is necessary to grasp the progress of the deterioration level.
Conventionally, visual inspection or visual inspection is performed using a TV camera, and the physical properties of the sample obtained by removing the core are investigated as necessary. It is difficult to accurately and quantitatively grasp the degree of deterioration. Or, in order to collect quantitative data, it is necessary to remove a large number of cores, and the strength of the healthy tubular body is inevitably lowered, and the work cost is inevitably increased.

As a non-destructive test method, an ultrasonic method, a shock elastic wave method, or a percussion method is known.
However, in the ultrasonic method, since the ultrasonic wave as an input wave has a high frequency and low energy, it is difficult for the input wave to propagate through the concrete, and it is not suitable for the inspection of concrete products.
In the impact elastic wave method or sounding method, an elastic wave is input to the object under test by mechanical impact such as hitting, and the frequency spectrum of the waveform received by the vibrator in contact with the object to be inspected is obtained. This is a method for performing deterioration diagnosis by analysis / determination, and the present applicant has already proposed a diagnosis system for buried pipes using the shock elastic wave method. (For example, Patent Document 1)
JP 2004-028976 A

FIG. 5 shows an inspection apparatus used in the buried pipe inspection method using the shock elastic wave method proposed by the present applicant.
In FIG. 5, 20 ′ is a carriage, 32 ′ is a lifting mechanism attached to the carriage 20 ′, 33 ′ is a receiving sensor attached to the tip of the lifting mechanism 32 ′, 22 ′ is another lifting mechanism attached to the carriage 20 ′, 23 'is a hammer attached to the tip of the lifting mechanism 22', 4 'is a control unit, 5' is a computer that performs operation / data recording and analysis, and the receiving sensor 33 'is connected to the tube to be inspected by operating the lifting mechanism 23'. The inner surface of the body is brought into contact, then the elevating mechanism 22 'is operated, the hammer 23' is further operated to strike the inner surface of the tube, and the elastic wave generated by this impact is received by the reception sensor, and the frequency of the received waveform The spectrum is obtained by a fast Fourier transform program, and the deterioration diagnosis of the buried pipe is performed based on the analysis determination of the frequency spectrum.

In the above inspection apparatus, when receiving the elastic wave by the reception sensor 33 ′, the reception sensor 33 ′ is raised by the elevating mechanism 32 ′, and its distal end is pressed against the tube wall surface.
If the elevating mechanism 32 ′ cannot elevate during reception, the tip of the receiving sensor 33 ′ is locked while being pressed against the tube wall surface. In this case, if a large load is applied to the recovery of the in-pipe inspection device by trying to pull out or push out the in-pipe inspection device from the inside of the tube, the receiving sensor 33 ′ is lifted and lowered while being pressed against the tube wall surface. Since the mechanism 32 'is locked, an excessive load is applied to the receiving sensor 33' and its elevating mechanism 32 'at the time of recovery, which may cause fatal damage, or may cause damage to the pipe wall surface. .

  The object of the present invention is that even if the lifting mechanism is locked in a state where the tip of the receiving sensor is pressed against the tube wall surface, fatal damage to the receiving sensor due to the load at the time of collection of the in-pipe inspection device and large damage to the tube wall surface It is an object of the present invention to provide an in-pipe inspection apparatus that can avoid damage well and can be smoothly recovered from the inside of the pipe.

  An in-pipe inspection apparatus according to the present invention is an in-pipe inspection apparatus for inspecting a deterioration state of an embedded pipe, and receives an elastic wave or a hitting sound input to the embedded pipe by pressing a tube wall surface at a tip portion of a contact. The receiving device is mounted on a carriage, the contact tip of the receiving device is divided from the contact main body, and the divided surfaces are coupled by magnetic force.

Since the tip of the contact of the receiving sensor is divided and the split surfaces are coupled by magnetic force, the split surface can be cleaved with a low load in the horizontal direction. Even if the elevating mechanism falls into a state where it cannot move up and down and locks while receiving elastic waves by pressing, the split surface is cleaved even if the load in the horizontal direction for pulling out or pushing out the in-pipe inspection device is reduced. The tip portion can be separated, and it is possible to sufficiently prevent the receiving sensor from being seriously damaged or the tube wall surface from being seriously damaged when the in-tube inspection apparatus is recovered.
In addition, after collecting the in-pipe inspection apparatus, the tip portion can be attached to the receiving sensor with one touch, and the loss time of the in-pipe inspection work can be extremely shortened.
Further, the tip portion can be reused by collecting the tip portion dropped into the pipe with a magnetic adsorption jig.

Embodiments of the in-pipe inspection apparatus according to the present invention will be described below with reference to the drawings.
As shown in FIG. 1, the in-pipe inspection apparatus according to the present invention is equipped with an input mechanism carriage 21 on which an elastic wave input device 22-23 as an input mechanism 2 is mounted and a receiving device 32-33 as a receiving mechanism 3. It can be set as the structure provided with the receiving mechanism trolley | bogie 31 and the TV camera car 41 carrying the TV camera 4. FIG.
In FIG. 1, reference numeral 5 denotes a data recording apparatus. A computer 52 is mounted on a carriage of a data recording vehicle 51, and is arranged near the opening of a manhole.

As shown in FIGS. 2-1 to 2-3, the elastic wave input device 2 includes a link type lifting mechanism 22 driven by an electric motor or an air cylinder. The elevating mechanism 22 has a pair of upper and lower parallel links 22a and 22b on the left and right sides, and a driving force can be transmitted to the lower link 22b.
A means 23 for inputting an elastic wave to the tube body with a constant force, for example, an impulse hammer, is attached to one end of the elevating mechanism 22, and a predetermined position for inputting the elastic wave at the time of measurement by driving each parallel link 11a, 22b. The impulse hammer 23 is raised to a predetermined position so that the impulse hammer 23 moves away from the inner surface of the pipe during movement.
In addition to impulse hammers, hammers, steel balls, etc. can also be used, but it is preferable to always apply the hammer with the same force. For example, hammers, steel balls, etc. are launched using Schmitt hammers, springs, pistons, etc. It is preferable to use a steel ball that drops from a height.

As shown in FIGS. 2-1 to 2-3, the receiving device 3 includes a link type lifting mechanism 32 driven by an electric motor or an air cylinder. The elevating mechanism 32 may have a pair of upper and lower parallel links 32a and 32b on the left and right sides, and a driving force can be transmitted to the lower link 32b.
A receiving sensor 33 is attached to the other end of the lifting mechanism 32, and the driving of each parallel link 32a, 32b raises the receiving sensor 33 to a predetermined position at the time of measurement, and the tip of the contact is pressed against the tube wall surface C. The receiving sensor 33 is lowered to a predetermined position separated from the tube wall surface C during movement.

  The TV camera 4 in FIG. 1 monitors the front situation in the buried pipe where the receiving mechanism carriage 31 and the input mechanism carriage 21 travel, for example, penetration of tree roots, adhesion of mortar, oils and fats, falling sediment, sediment accumulation, etc. during construction. Used to.

Each of the acoustic wave input device 2 and the receiving device 3 is provided with a CCD camera. The CCD camera of the elastic wave input device 2 is used to determine the elastic wave input position by the impulse hammer 23, and the CCD camera of the elastic wave receiver 3 is used to determine the elastic wave reception position by the reception sensor 33.
Each video data from the TV camera and the CCD camera is sent to a recording device via an electric cable and displayed on a monitor screen. Each video data from the TV camera and the CCD camera may be switched and displayed, but it is preferable to display them simultaneously by inserting a video or dividing a video.

As shown in FIG. 1 and FIGS. 2-1 to 2-3, the TV camera car 41, the receiver carriage 31 and the input mechanism carriage 21 are provided with wheels, and as shown in FIG. The receiver carriage 31 and the input mechanism carriage 21 are connected in a line in this order so that they can travel inside the pipe.
As shown in FIGS. 2-1 to 2-3, the first connection tool 11 is provided at the front end of the input mechanism carriage 21. The first connector 11 includes a pair of left and right substantially triangular brackets 11b projecting forward and fixed to the inside of a pair of left and right front end columns 11c and 11c erected on the front end of the input mechanism carriage 21, respectively. 11b and pin holes 11c and 11c penetrating the protruding end portions of both the brackets 11b and 11b in the left-right direction. A second connector 12 connected to the first connector 11 is provided at the rear end of the receiving mechanism carriage 31 described above. The second connector 12 has a substantially triangular shape that is erected at the left and right positions of the rear end of the receiving mechanism carriage 31 and has an upper portion protruding rearward. The brackets 11b and 11b of the first connector 11 are connected to both the left and right sides. A pair of left and right rear end struts 12a and 12a that squeeze in and pin holes 12b and 12b that penetrate the protruding portions of the rear end struts 12a and 12a in both the left and right directions. The first connector 11 and the second connector 12 are connected by pins 13 inserted through the respective pin holes 11c-12b and 11c-12b.
As shown in FIGS. 1 and 2-1 to 2-3, a third connecting tool 17 is provided at the front end of the receiving mechanism carriage 31, and at the rear end of the TV camera car 41 as shown in FIG. A fourth connector 16 is provided, and both the connectors 16 and 17 are connected to each other.

  In order to inspect the buried pipe, as shown in FIG. 1, a water stop backer is inserted from the manhole where the data recording vehicle 51 is arranged, and the manhole side opening of the buried pipe upstream from the manhole is inserted into the water stop backer 15. After stopping the water, insert the in-pipe inspection device into the pipe from the manhole. In this case, the receiver carriage 31 and the input mechanism carriage 21 are connected as shown in FIG. 3 (a), bent at the bottom of the manhole as shown in FIG. 3 (b), and the receiver carriage 31 is connected to the duct opening. After the insertion, the whole is returned to the original straight line and inserted into the tube, and the TV camera car 41 inserted in advance can be connected to the receiver carriage 31. The TV camera car 41, the receiver carriage 31 and the input mechanism carriage 21 can be sequentially inserted into the pipe and then connected to each other.

In the receiving sensor 33, as shown in (a) or (b) of FIG. 4-1, the contact 331 that is in contact with the pipe wall surface is divided into a contact main body 331b and a tip 331a. Is adsorbed electromagnetically. For example, as shown in FIG.
Or a magnet 3310 is embedded in the back surface of the tip 331a, and the contactor main body 331b is made of a magnetic material such as SUS, as shown in FIG.

As the reception sensor 33, for example, the one shown in FIG. 4-2 can be used.
In FIG. 4B, reference numeral 332 denotes a case, which includes a sensor main body storage chamber 3321 and a pressure transmission jig storage chamber 3322. Reference numeral 333 denotes a pressure transmission jig accommodated in the pressure transmission jig accommodation chamber 3322 of the case 11 so as to be slidable in the vertical direction. Reference numeral 334 denotes a lower lid fixed to the lower end of the case with a screw or the like. A pressure sensor 335 such as a load cell is fixed, and a contact 3351 of the pressure sensor 335 is in contact with the lower surface of the pressure transmission jig 332. Reference numeral 330 denotes a receiving sensor main body, and a screw-type contact main body 331b is detachable. The tip end 331a is electromagnetically attracted to the contact main body 331b, and the contact main body 331b is exchanged to replace the contact main body 331b. The protruding length is set to a predetermined length.
Reference numeral 336 denotes an elastic support jig, which has a cylindrical shape and is placed on the upper surface of the pressure transmission jig 333. The reception sensor main body 330 is inserted into the cylindrical elastic support jig 333, and the upper side of the reception sensor main body 330 is inserted. A flange portion 3310 (which can be provided by screwing a nut) is supported at the upper end of the support jig 336, and the lower end portion 3311 of the receiving sensor main body is inserted into the hole 3331 on the upper surface of the pressure transmission jig. Reference numeral 3332 denotes an electric cable of the reception sensor main body 330, and reference numeral 3333 denotes an electric cable of the pressure sensor 335, and these cables are led out from the case 332 through the cable insertion hole 3334 of the pressure transmission jig 333.

  In order to perform the deterioration diagnosis of the buried pipe using the in-pipe inspection apparatus according to the present invention, the elevating mechanism of the receiving mechanism carriage is raised, the tip of the contact of the receiving sensor is pressed against the pipe wall, and the input mechanism carriage is raised and lowered. After raising the mechanism to a predetermined height, the hammer is operated to generate an elastic wave, and this elastic wave is received by a receiving sensor, and this received wave is recorded in a recording device, for example, processed by a fast Fourier transform program. Thus, it is possible to obtain a frequency spectrum and analyze the frequency spectrum to determine deterioration.

A pressure determined by an elastic constant of an elastic support jig in the reception sensor acts on a contact portion between the distal end portion of the reception sensor and the tube wall.
If the raising / lowering mechanism of the receiving mechanism cannot be raised or lowered during the reception of the elastic wave, the tip of the receiving sensor is locked while being pressed against the tube wall surface. In this state, if the in-tube inspection device is to be pulled out or pushed out of the tube, the divided tip portion is tilted, the split surface is cleaved, and the tip portion is dropped when the in-tube inspection device is pulled out or pushed out. .
Thus, since the split surface is only adsorbed by magnetic force, the split surface can be cleaved with a very small pulling force or pushing force of the in-pipe inspection device, and the tip can be detached. It can be well prevented from causing fatal damage to the receiving sensor and large damage to the pipe wall surface.
In addition, after collecting the in-pipe inspection device, the tip part can be attached with a single touch without the need for tools, jigs, adhesives, etc., so that the loss time of the in-pipe inspection work can be kept to a very short time. Can do.
Furthermore, the tip portion dropped into the tube can be easily collected with a magnetic adsorption jig, and the collected tip portion can be reused.

As described above, if the in-pipe inspection device is pulled out or pushed out of the tube while the tip of the receiving sensor is locked while being pressed against the tube wall surface, the divided tip is tilted and divided. As shown in FIG. 4-3 to FIG. 4-5, the surface is cleaved and the tip portion is dropped as the in-pipe inspection device is pulled out or pushed out, so that the tilt of the tip portion is not hindered. It can also be a surface.
In the example of FIG. 4-3 (a), a protrusion is provided on the back surface of the tip 331a made of a magnet, a recess is provided on the end surface of the magnetic contactor main body 331b, and the protrusion and the recess are fitted and magnetic force is applied. It is adsorbed at. The protrusions and recesses are circular as shown in (b) of FIG. 4-3 (a cross-sectional view of (b) of FIG. 4-3) or squared as shown in (c) of FIG. For example, a quadrangle). A concave portion is provided on the back surface of the tip portion made of a magnet, and a protrusion is provided on the end surface of the magnetic contactor body. The protrusion and the concave portion can be fitted and attracted by magnetic force.
In the example shown in (a) and (b) of FIG. 4-4 (roll cross-sectional view of (b) of FIG. 4-4), an annular protrusion is provided on the back surface of the tip 331a made of a magnet, An annular recess is provided on the end face of the contact main body 331b, and the protrusion and the recess are fitted together and attracted by magnetic force. The annular protrusion and the annular recess can be circular. An annular protrusion is provided on the back surface of the tip portion made of a magnet, an annular recess is provided on the end surface of the magnetic contactor body, and the protrusion and the recess can be fitted and attracted by magnetic force.
In the example of (a) in FIG. 4-5, a protrusion is provided on the back surface of the magnetic tip 331a, a recess is provided on the end surface of the magnetic contactor body 331b, and the protrusion and the recess are connected via a magnet piece 331c. It is fitted. The protrusion and the recess can be circular or square (for example, a quadrangle). It is also possible to provide a recess on the back surface of the magnetic tip, provide a protrusion on the end surface of the magnetic contactor body, and fit the protrusion and the recess via a magnet piece.
In the example of (b) of FIG. 4-5, an annular protrusion is provided on the back surface of the magnetic tip 331a, an annular recess is provided on the end surface of the magnetic contactor body 331b, and the protrusion and the recess are connected to the annular magnet piece 331c. Is fitted through. An annular recess may be provided on the back surface of the magnetic tip, an annular protrusion may be provided on the end surface of the magnetic contactor body, and the protrusion and the recess may be fitted via an annular magnet piece.

  The lifting mechanism is normally operated via a gear mechanism. When an electric motor is used as the drive source, the lifting mechanism of the receiving mechanism cannot be lifted due to a power failure. In this case, if the coil is wound around the contact body and the tip is electromagnetically attracted, the electromagnetic adsorption force disappears at the same time as the power failure. It can be easily recovered without causing fatal damage to the tube or causing major damage to the tube wall.

It is drawing which shows the use condition of the in-pipe inspection apparatus which concerns on this invention. It is a side view which shows the input mechanism trolley carrying the elastic wave input device in the Example of the in-pipe inspection apparatus which concerns on this invention, and the receiving mechanism trolley carrying a receiver. It is a top view which shows the input mechanism trolley carrying the elastic wave input device same as the above, and the receiving mechanism trolley carrying the receiving device. It is a perspective view which shows the input mechanism trolley carrying the elastic wave input device same as the above and the receiving mechanism trolley carrying the receiving device. It is a side view which shows the connection state of the input mechanism trolley carrying an elastic wave input device same as the above and the receiving mechanism trolley carrying a receiver. It is drawing which shows the example from which the contact of a receiving sensor in the Example of the in-pipe inspection apparatus which concerns on this invention differs. It is drawing which shows an example of the receiving sensor in the Example of the in-pipe inspection apparatus which concerns on this invention. It is drawing which shows the example from which the contact different from the said of the receiving sensor in the Example of the in-pipe inspection apparatus which concerns on this invention differs. It is drawing which shows the example from which the contact different from the said of the receiving sensor in the Example of the in-pipe inspection apparatus which concerns on this invention differs. It is drawing which shows the example from which the contact different from the said of the receiving sensor in the Example of the in-pipe inspection apparatus which concerns on this invention differs. It is drawing which shows the conventional in-pipe inspection apparatus.

Explanation of symbols

2 Elastic wave input device 21 Elastic wave input carriage 22 Elevating mechanism 23 Impact hammer 3 Receiving device 31 Receiving mechanism carriage 32 Elevating mechanism 33 Reception sensor 331a Contact tip 331b Contact main body

Claims (1)

An in-pipe inspection apparatus that inspects the deterioration state of the buried pipe, and a receiving device that receives the elastic wave or the hitting sound input to the buried pipe by pressing the tube wall surface of the tip of the contact is mounted on the carriage, An in-pipe inspection apparatus characterized in that a contact tip portion of the receiving device is divided from a contact main body, and the divided surfaces are coupled by magnetic force.

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