JP6967182B2 - Turbine crawler that runs in a pipe with a flow and gets power from the flow - Google Patents

Description

The present invention is carried out, for example, in a hydraulic iron pipe of a hydropower plant, a water supply pipe, a drainage pipe, or various pipes such as an oil plant pipe and a gas pipe, for example, performing inspection work or rusting. In order to obtain the essential power for the equipment that works in the pipe in various work performed in the pipe such as dropping work and painting work, conventionally, the power cable and hose from the outside of the pipe to the inside of the pipe are used. It is necessary to pull in a power hose such as a hose, a hydraulic hose or a pneumatic hose, and when the length of the pipe is long, the power cable and the power hose are also long and heavy, and therefore the handling is very complicated.
In the present invention, the kinetic energy of a fluid such as water or air flowing in the pipe is acquired, and the acquired kinetic energy is converted into power to perform various operations, or the power is used to self-propell the inside of the pipe. It is possible to run, that is, it does not require an electric cable or a power hose, and proposes a so-called self-supporting "turbine crawler that runs in a pipe with a flow and obtains power from the flow".
As an example of use of the present invention, it is also easy to perform blasting of the cleaning material inside the pipe without requiring a blast hose or a suction hose, and to transfer the used cleaning material to the outside of the pipe. I will explain to.

As a known technique of this kind for carrying out work on the inner surface of various pipes, the work method and apparatus in pipes described in Japanese Patent Publication No. 2003-225626 are known.
Further, the in-pipe inspection pig described in Japanese Patent Publication No. 6-66776 is known.
Further, there is known a device described in Japanese Patent Publication No. 2014-18702 that moves and works in a pipe.
Publication of Patent No. 2003-225626 Patent Publication No. 6-66776 Patent Publication No. 2014-18702

The following problems to be solved exist in the in-pipe work method and device disclosed in Japanese Patent Publication No. 2003-225626 and the in-pipe inspection pig disclosed in Japanese Patent Publication No. 6-66776.
In the above-mentioned known devices, it is necessary to draw a power cable or a power hose from the outside of the tube into the tube in order to obtain the essential power for the device working in the tube, and if the length of the tube is long, , The handling of power cables and power hoses is very complicated.
Therefore, the first technical solution problem of the present invention is as follows.
Conventionally, in order to obtain the essential power for a device that works in a pipe, it is necessary to pull a power hose such as a power cable, a hydraulic hose, a hydraulic hose or a pneumatic hose from the outside of the pipe into the pipe. When the length is long, the power cable and the power hose are also long and heavy, and therefore the handling is very complicated.
In the present invention, the kinetic energy of a fluid such as water or air flowing in the pipe is acquired, and the acquired kinetic energy is converted into power to perform various operations, or the power is used to self-propell the inside of the pipe. We propose a so-called self-supporting "turbine crawler that runs in a pipe with a flow and obtains power from the flow" that can run, that is, does not require an electric cable or a power hose.
Next, in order to further clarify the difference between the conventional device and the device of the present invention, first, the device of the present invention will be described. In the device of the present invention, the space inside the pipe is defined as the low pressure region portion. The turbine crawler is configured by providing a mechanism for moving the turbine crawler provided with the pipe inner surface contact sealing member along the inner wall of the pipe for dividing into two spaces of the high pressure region portion. Since the fluid in the high-pressure region flows into the low-pressure region at high speed through a slight gap between the pipe inner surface contact seal member and the inner wall of the pipe, the inner wall of the pipe is swept with high efficiency. It is possible to clean, clean, or dry the wet inner wall of the tube. However, since the above-mentioned known device does not include the pipe inner surface contact sealing member, the ability to blow off the inner wall of the pipe to clean it or to dry the wet inner wall of the pipe is insufficient.
Therefore, the second technical solution problem of the present invention is as follows.
The apparatus of the present invention comprises a mechanism for moving a turbine crawler provided with a pipe inner surface contact sealing member along the inner wall of the pipe for dividing the space inside the pipe into two spaces, a low pressure region and a high pressure region. Due to this, the fluid in the high pressure region flows into the low pressure region at high speed through a slight gap between the pipe inner surface contact seal member constituting the turbine crawler and the inner wall of the pipe. A "turbine crawler that runs in a flowing pipe and is powered by the flow" that allows the inner wall of the pipe to be efficiently cleaned and cleaned, or the wet inner wall of the pipe to be dried. suggest.

Next, the third technical solution problem of the present invention is as follows.
The following third technical solution problem of the present invention cannot be said to be a technical solution problem of the present invention because it is different from the object of the present invention. Since it is a technical solution problem relating to the advantages that occur, it will be described as a third technical solution problem of the present invention.
The above-mentioned device for moving and working in a pipe disclosed in Japanese Patent Publication No. 2014-18702 is a device proposed by the present inventor.
The device includes a mechanism for moving an in-pipe moving body provided with a pipe inner surface contact seal member along the inner wall of the pipe for dividing the space inside the pipe into two spaces, a low pressure region and a high pressure region. Due to this, the fluid in the high pressure region flows into the low pressure region at high speed through a slight gap between the pipe inner surface contact seal member constituting the in-pipe moving body and the inner wall of the pipe. It is possible to clean and clean the inner wall of the pipe with high efficiency, or to dry the wet inner wall of the pipe, but the device has the following problems to be solved.
In the conventional device, the problem that occurs when the cleaning material blast cleaning work using compressed air is performed on the inner surface of a horizontally arranged iron pipe having an inner diameter of 90 cm and a length of 2000 m using the device is solved. The following is an example of a problem to be solved.
The inner area of the iron pipe is calculated to be 5652 m2, and if 45 kg of garnet as a polishing material is injected per 1 m 2, the total amount of garnet injected inside the iron pipe is about 254 tons.
The injected garnet needs to be discharged to the outside of the iron pipe, but in order to transfer the garnet by the air transportation method, the flow velocity of the air flowing inside the iron pipe needs to be 45 m / s. The flow rate of air flowing inside the iron pipe required to obtain the air flow velocity reaches 1700 m3 per minute.
When a roots pump having a maximum discharge pressure of 90 kpa is used to obtain the air flow rate, the power required for operating the roots pump reaches 3500 kW.
That is, it is very difficult to obtain a roots pump of 1700 m3 / min from the viewpoint of profitability and installation location, and it is also very difficult to secure a 3500 kW generator from the viewpoint of profitability and installation location.
Next, using an air compressor outside the iron pipe with a maximum discharge pressure of compressed air of 13 kgf / cm2 and a discharge flow rate of compressed air of 14 m3 / min, a garnet of 35 kg / min is blasted inside the iron pipe. In order to transport air to the nozzle and perform blasting work, a blast hose with a length of 2000 m that communicates and connects the blast nozzle with the polishing material pressure feeding tank located outside the iron pipe and on the downstream side of the air compressor. However, if the total pressure loss of the blast hose is 2 kgf / cm2, the inner diameter of the blast hose is 102 mm, the outer diameter is 132 mm, and the weight of the blast hose per 1 m is 7 kg. The total weight of the 2000m long blast hose reaches 14 tons.
That is, regarding the handling of a blast hose having a length of 2000 m and a total weight of 14 tons, even if a hose reel for winding and storing the blast hose is manufactured and installed, it is very difficult from the viewpoint of profitability and installation location.
The third technical solution problem of the present invention is to solve the problem in the conventional device as described above, that is, the device disclosed in Japanese Patent Publication No. 2014-18702, that is, the present invention. The third technical solution is that it does not require the super-large pump and power as described above, nor does it require any long and heavy hoses, "running in a flowing pipe and from the flow. It is to propose a "turbine crawler that obtains power".

In the invention according to claim 1 in order to achieve the above technical solution problem;
In "a turbine crawler that runs in a pipe with a flow and gets power from the flow":
The turbine crawler is composed of at least a mainframe member, a pipe inner surface contact sealing member, and a rotor;
The mainframe member is formed in an annular shape, the pipe inner surface contact seal member is attached to the outer peripheral end portion of the mainframe member, and a fluid supply hole is formed in the central portion of the mainframe member. A bearing member for holding a rotor rotating shaft, which is a member constituting the rotor, is further mounted on the central portion of the mainframe member;
The inner surface contact seal member of the pipe is formed so that the entire shape is annular and can be brought into close contact with the inner surface of the pipe by being deformed;
The rotor has a rotor rotation shaft whose one side is held by the bearing member, a first boss member mounted on the other side of the rotor rotation shaft, and a first boss member arranged on the outer peripheral portion of the first boss member. It consists of two boss members and one or more rotary nozzles mounted on the outer periphery of the second boss member;
Further, in the rotor, an annular rotor center space is formed between the outer peripheral surface of the first boss member and the inner peripheral surface of the second boss member, and in the rotor center space, one end surface thereof is formed. The fluid supply hole is as airtight as possible facing the fluid supply hole of the mainframe, that is, the fluid supply hole and the fluid supply hole are as airtight as possible and rotatable with each other. It is communicated with;
In the rotor, the other end face of the rotor central space is further hermetically closed;
Further in the rotor, the upstream end of the rotary nozzle communicates with the rotor central space, and the downstream end of the rotary nozzle is open to the space inside the tube;
Thus, in the rotor, the fluid supply hole of the mainframe is used as the starting point on the upstream side, and the fluid supplied hole, the rotor center space, and the rotating nozzle outlet as the ending point on the downstream side via the rotating nozzle. A rotor flow path leading to is formed;
In the rotor, the axis of the jet blown out from the outlet of the rotary nozzle is arranged at a position where the jet applies rotational torque to the rotor;
In the rotor flow path, the value of the flow rate per unit time of the fluid flowing into the rotor central space from the fluid supply hole is defined as Q, and the cross-sectional area of the minimum area in the cross-sectional area of the flow path through which the fluid of the flow rate Q passes. Let A be the value of;
In the "turbine crawler that runs in a pipe with a flow and obtains power from the flow" configured as described above, the absolute value of the maximum supply pressure of the fluid supply source that supplies the fluid into the pipe is P0. To describe the relationship between the absolute pressure value and the A value at several points inside the pipe since the start of fluid supply from the source into the pipe;
That is, the pressure value at the upstream end of the pipe is P1, the pressure value at the immediately preceding portion of the turbine crawler is P2 in the upstream region of the turbine crawler, and the turbine crawler is downstream from the turbine crawler. The pressure value of the part immediately after is P3, the pressure value of the downstream end of the pipe is P4, P1-P4 = PL1, P2-P3 = PL2, and PL1-PL2 = PL3. To describe how to set the value of;
Although PL1 which is the total pressure loss value is smaller than P0 which is the maximum discharge pressure value of the fluid supply device but is close to P0, and PL2 which is the pressure loss value in the turbine crawler is smaller than PL1. The value of A is set so that it is close to PL1, that is, the value of A is smaller and the value of PL2 is larger:
In "a turbine crawler that runs in a pipe with a flow and obtains power from the flow", which is characterized by being configured as described above;
A device for generating power such as a fluid energy generation pump such as a hydraulic pump, a hydraulic pump or an encompressor, or a generator is connected to the rotor rotating shaft:
Provided is a "turbine crawler that travels in a pipe having a flow and obtains power from the flow", which is characterized by being configured as described above.

The present invention has the following effects.
The present invention is carried out, for example, in a hydraulic iron pipe of a hydropower plant, a water supply pipe, a drainage pipe, or various pipes such as an oil plant pipe and a gas pipe, for example, performing inspection work or rusting. In order to obtain the essential power for the equipment that works in the pipe in various work performed in the pipe such as dropping work and painting work, conventionally, the power cable and hose from the outside of the pipe to the inside of the pipe are used. It is necessary to pull in a power hose such as a hose, a hydraulic hose or a pneumatic hose, and when the length of the pipe is long, the power cable and the power hose are also long and heavy, and therefore the handling is very complicated.
In the present invention, the kinetic energy of a fluid such as water or air flowing in the pipe is acquired, and the acquired kinetic energy is converted into power to perform various operations, or the power is used to self-propell the inside of the pipe. It is possible to run, that is, it does not require an electric cable or a power hose, that is, it proposes a so-called self-supporting "turbine crawler that runs in a pipe with a flow and obtains power from the flow". Will be done.

Hereinafter, preferred embodiments of the apparatus configured according to the present invention will be described in more detail with reference to the accompanying drawings.
In order to deepen the understanding of the present invention, in the following description of the preferred embodiment, values such as the diameter and length of the pipe and the flow velocity of the fluid will be specifically illustrated and described.

Explaining with reference to FIGS. 1 to 4, the “turbine crawler traveling in a pipe having a flow and obtaining power from the flow” according to the preferred embodiment according to the first aspect, which is configured according to the present invention, is a gas or a gas. A single-phase fluid of liquid, a two-phase mixed fluid of gas and liquid, or a two-phase mixed fluid of gas or liquid and solid particles such as a sweeping material, or a three-phase of gas, liquid and solid particles. It is arranged inside the pipe 1 through which a fluid such as a mixed-phase fluid flows.
The turbine crawler is composed of at least a main frame member 22, a pipe inner surface contact sealing member 21, and a rotor 23.
The main frame member 22 is formed in an annular shape whose center line is substantially concentric with the center line of the pipe 1, and the pipe inner surface contact seal member 21 is attached to the outer peripheral end portion of the main frame member 22. A fluid supply hole 223 is formed in the central portion of the main frame member 22, and a rotor rotating shaft 231 which is a member constituting the rotor 23 is further held in the central portion of the main frame member 22. A bearing member 224 is mounted for this;
The pipe inner surface contact seal member 21 is formed so that the entire shape is annular and can be brought into close contact with the inner surface of the pipe 1 by being deformed;
The rotor 23 includes a rotor rotary shaft 231 whose one side is held by the bearing member 224, a first boss member 232 mounted on the other side of the rotor rotary shaft 231, and an outer circumference of the first boss member 232. It is composed of a second boss member 234 arranged in the portion and a single or a plurality of rotary nozzles 235 mounted on the outer peripheral portion of the second boss member 234;
Further, in the rotor 23, an annular rotor center space 236 is formed between the outer peripheral surface of the first boss member 232 and the inner peripheral surface of the second boss member 234, and in the rotor center space 236. The fluid supply hole 233, which is one end surface thereof, faces the fluid supply hole 223 of the mainframe as airtightly as possible, that is, the fluid supply hole 223 and the fluid supply hole 233 are possible. It communicates as airtightly as possible and is rotatable with each other;
Further, in the rotor 23, the other end face of the rotor central space 236 is airtightly closed;
Further, in the rotor 23, the upstream end portion of the rotary nozzle 235 is communicated with the rotor central space 236, and the downstream end portion of the rotary nozzle 235 is opened to the space inside the pipe 1. Ori;
Thus, in the rotor 23, the fluid supply hole 223 of the mainframe is used as the upstream start point, and the fluid supply hole 233, the rotor center space 236, and the rotary nozzle 235 are used as the downstream end points. A rotor flow path leading to the outlet of the rotating nozzle is formed;
In the rotor, the axis of the jet blown out from the outlet of the rotary nozzle is arranged at a position where the jet applies rotational torque to the rotor;
In the rotor flow path, the value of the flow rate per unit time of the fluid flowing into the rotor central space 236 from the fluid supply hole 233 is defined as Q, and the minimum area in the cross-sectional area of the flow path through which the fluid of the flow rate Q passes. Let A be the cross-sectional area value;
In the "turbine crawler that runs in a pipe with a flow and obtains power from the flow" configured as described above, the absolute value of the maximum supply pressure of the fluid supply source that supplies the fluid into the pipe is P0. To describe the relationship between the absolute pressure value and the A value at several points inside the pipe since the start of fluid supply from the source into the pipe;
That is, the pressure value at the upstream end of the pipe 1 is P1, the pressure value at the immediately preceding portion of the turbine crawler in the upstream region of the turbine crawler is P2, and the turbine is in the downstream region of the turbine crawler. When the pressure value at the end immediately after the crawler is P3, the pressure value at the downstream end of the tube is P4, P1-P4 = PL1, P2-P3 = PL2, and PL1-PL2 = PL3. To describe how to set the value of A;
Although PL1 which is the total pressure loss value is smaller than P0 which is the maximum discharge pressure value of the fluid supply device but is close to P0, and PL2 which is the pressure loss value in the turbine crawler is smaller than PL1. The value of A is set so that it is close to PL1, that is, the value of A is smaller and the value of PL2 is larger:
In "a turbine crawler that runs in a pipe with a flow and obtains power from the flow", which is characterized by being configured as described above;
A hydraulic unit / power generation unit 282 is connected to the rotor rotary shaft 231 via a planet gear reducer 241.

The apparatus of the present invention includes a pipe inner surface contact seal member 21, a main frame member 22, and a rotor 23 for dividing the space inside the pipe 1 into two spaces, a low pressure region portion and a high pressure region portion. Therefore, the turbine crawler receives a strong pressure acting in the direction from the high pressure region portion to the low pressure region portion, that is, strong fluid energy. The fluid energy is converted into mechanical energy by rotating the rotor 23 at high speed, and the hydraulic unit / power generation unit 282 connected to the rotor 23 is rotationally driven to generate power.
When a roots pump (not shown) arranged outside the pipe for supplying a large amount of air to the inside of the pipe 1 is activated, a large amount of air is injected from the upstream inlet side of the pipe 1 into the inside of the pipe 1. Will be done. Since the flow path inside the rotary nozzle 235 of the turbine crawler arranged inside the pipe 1 is narrow, the air flow is obstructed, and the inner surface of the pipe 1 and the pipe inner surface contact seal member 21 are in maximum airtight contact. Therefore, the pressure in the region on the upstream side of the rotary nozzle 235 rises inside the pipe 1.
With respect to the inner surface of a horizontally arranged iron pipe having an inner diameter of 90 cm and a length of 2000 m, using the "turbine crawler that runs in a pipe with a flow and obtains power from the flow" of a preferred embodiment configured according to the present invention. An example of the work when the cleaning material blast cleaning work is carried out will be described below.
The inner area of the iron pipe is calculated to be 5652 m2, and if 45 kg of garnet as a polishing material is injected per 1 m 2, the total amount of garnet injected inside the iron pipe is about 254 tons.
The injected garnet needs to be discharged to the outside of the iron pipe, but in order to transfer the garnet by the air transportation method, the flow velocity of the air flowing inside the iron pipe needs to be 45 m / s. The flow rate of air flowing inside the iron pipe required to obtain the air flow velocity reaches 1700 m3 per minute.
However, if the garnet to be injected and the garnet that has been injected are to be transferred by the hydraulic transportation method instead of the air transportation method, the flow velocity of the water flowing inside the iron pipe may be 3 m / sec, and at this time, the water and the garnet Assuming that the flow rate of garnet in the flow rate of the two-phase multiphase fluid is 20%, the amount of water required is 180 kg per minute.
That is, with respect to the flow velocity of the two-phase multiphase fluid of water flowing inside the pipe 1 and the garnet, the limit flow velocity at which the garnet can float in the water without settling is about 3 m / s.
If a flow rate of 3 m / s is applied to a two-phase multiphase fluid of water and garnet by the action of air flowing inside the iron pipe, the required air flow rate is 115 m3 / min, and the air flow rate is obtained. Therefore, when a roots pump having a maximum discharge pressure of 90 kpa is used, the power required for the operation of the roots pump is 240 kW.
The roots pump injects air at 115 m3 / min from the upstream inlet of the tube 1 into the inside of the tube 1, while simultaneously injecting 180 kg of water per minute and 45 kg of garnet per minute.
The air injected from the roots pump gives a velocity to the mixed fluid of water flowing inside the pipe 1 and the garnet, and the flow velocity of the mixed fluid of the water flowing inside the pipe 1 and the garnet is the water. The garnet is set to a flow rate that is the same as or exceeds the limit flow rate at which the garnet can float without settling, and the air flowing inside the tube 1 with respect to the flow rate of the mixed fluid thus set. The flow velocity is imparted and set by the action of air generated due to the flow rate and pressure of.
Since the gap between the pipe 1 and the pipe inner surface contact seal member 21 is very small, an air flow rate of 115 m3 / min injected from the upstream fluid inlet 902 at the upstream end of the pipe 1 is 180 kg / min. Almost all of the water and the garnet flow rate flow in the downstream direction through the nozzle opening of the rotary nozzle 235, but if the total flow path cross-sectional area of the two nozzle openings is 72 cm2, The flow velocity of the three-phase mixed-phase fluid passing through the nozzle port is 265 m / s, and the fluid rotates the rotor 23 at high speed, and the high-speed garnet collides with the inner surface of the tube 1 and cleans the inner surface. To give. The pressure loss generated at the nozzle port is 78 kpa, and the pressure loss of the pipe 1 having a length of 2000 m is close to zero.
The garnet that has completed the cleaning work flows in the downstream direction of the pipe 1 together with air and reaches the fluid separator (not shown) from the downstream outlet, and the garnet separated by the fluid separator is a waste material container (Fig.). (Not shown), while clean air is released into the atmosphere.
When air of 115 m3 / min is ejected from two nozzle openings having a total channel cross-sectional area of 72 cm2 at a flow rate of 265 m / s, the force of the jet of the air is 62 kgf.
Assuming that the diameter of the tangent circle of the axis of the jet is 600 mm, the torque that the jet rotates the rotor 23 is about 19 kgf · m. The rotation speed of the rotor 23 at this time is about 8400 rpm. That is, the rotor 23 has a mechanical energy of about 164 kW.
The mechanical energy is attenuated by the mechanical resistance of the planet gear reducer 241. However, if the mechanical efficiency of the planet gear reducer 241 is 60%, about 98 kW is used as the net power, that is, the turbine crawler is self-propelled. It can be fully utilized as the power of the machine and the power of various work equipment.

The configuration of the swing wheel unit 26 will be described.
The swing wheel unit 26 includes four rod non-rotating cylinders 263 that are radially arranged and fixed on the outer peripheral portion of the rod non-rotating cylinder turning actuator 264.
The four rods are composed of two driven wheels attached to the tip of each piston rod of the non-rotating cylinder 263, for a total of four types, that is, a total of eight driven wheels 262.
The axes of each of the two driven wheels 262 are arranged in FIGS. 1 and 4 in a slightly inclined state rather than parallel to the axis of the pipe 1.
The four rod non-rotating cylinders 263 have a function of strongly pressing the driven wheels 262 of the four types against the inner wall of the pipe 1. The cylinder case of each rod non-rotating cylinder 263 is connected to the rod non-rotating cylinder swivel actuator 264, and the cylinder case of each rod non-rotating cylinder 263 is in the direction of the white arrow 266 in FIG. , That is, the relative angle between the axis of the driven wheel 262 and the axis of the pipe 1 can be changed at any time and at any angle, thus that of the turbine crawler. The self-propelled direction and the self-propelled speed are set.

When the output shaft 242 of the planet gear reducer 241 is rotationally driven clockwise in the state of looking from right to left in FIG. 1, the oscillating wheel unit 26 is rotationally driven clockwise and becomes the oscillating wheel unit 26. The mounted driven wheel 262 rotates.
At this time, the axis of the driven wheel 262 is slightly tilted counterclockwise when viewed from the direction of the outer peripheral portion of the pipe 1, so that the swing wheel unit 26 is right along the axis of the pipe 1. A driving force is generated from to the left.
At this time, a reaction that tries to rotate the main frame member 22 in the counterclockwise direction acts, but the axis of the driven wheel 272 pressed against the tube 1 by the cylinder 273 is on a plane orthogonal to the axis of the tube 1. Therefore, the driven wheel 272 does not rotate, and thus the rotation of the main frame member 22 in the counterclockwise direction is prevented.
That is, when the planet gear reducer 241 is rotationally driven clockwise in the state of looking from right to left in FIG. 1, the turbine crawler travels in the direction of the white arrow 85.

In the turbine crawler shown in FIGS. 1 to 4, a self-propelled method using a swing wheel unit 26 is proposed as a method in which the turbine crawler travels along the inner surface of the pipe 1.
As a method for the turbine crawler to travel along the inner surface of the pipe 1, a method of pulling the turbine crawler by a winch (not shown) arranged outside the pipe 1 is applied instead of the method using the swing wheel unit 26. You can also do it.
Regarding the method of controlling the traveling speed of the turbine crawler when the winch is applied, the turbine crawler is connected to the end of the wire rope wound around the winch, and the wire rope is wound up or unwound by the winch. Is driven along the pipe 1, and the traveling speed of the turbine crawler is controlled by controlling the winding and feeding speed of the wire rope.

In the turbine crawler configured according to the present invention, as the turbine crawler moves inside the pipe 1, the pipe inner surface contact seal member 21 mounted on the turbine crawler and in close contact with the inner wall of the pipe 1 forms the inner wall of the pipe 1. It is rubbed, and foreign matter such as rust adhering to the inner wall is peeled off.
The inner wall of the actual pipe 1 has irregularities corroded by rust or the like, and the surface of the pipe inner surface contact seal member 21 also has fine scratches. High-speed airflow flows into the downstream region.
The high-speed air flow is very effective for sucking and cleaning dirt adhering to the inner surface of the pipe 1 or drying the water adhering to the inner surface of the pipe 1.
In the "turbine crawler that runs in a pipe with a flow and obtains power from the flow" according to the present invention, after the cleaning work is completed, the inner surface of the pipe 1 is cleaned and dried, and then the painting work is performed. Will be implemented.
The means for acting on the inner wall of the pipe 1 is not limited to the cleaning material or the spraying of paint. For example, an ultra-high pressure water injection nozzle or the like may be provided instead of the painting nozzle.

Although the preferred embodiments of the apparatus of the present invention have been described above, various embodiments of the apparatus of the present invention can be considered in accordance with the claims in addition to the preferred embodiments.
In the description of the device of the preferred embodiment, the device and the tube are described as being in the atmosphere, but the device of the present invention can be applied even when the device and the tube are in the water. ..

The present invention is carried out, for example, in a hydraulic iron pipe of a hydropower plant, a water supply pipe, a drainage pipe, or various pipes such as an oil plant pipe and a gas pipe, for example, performing inspection work or rusting. In order to obtain the essential power for the equipment that works in the pipe in various work performed in the pipe such as dropping work and painting work, conventionally, the power cable and hose from the outside of the pipe to the inside of the pipe are used. It is necessary to pull in a power hose such as a hose, a hydraulic hose or a pneumatic hose, and when the length of the pipe is long, the power cable and the power hose are also long and heavy, and therefore the handling is very complicated.
In the present invention, the kinetic energy of a fluid such as water or air flowing in the pipe is acquired, and the acquired kinetic energy is converted into power to perform various operations, or the power is used to self-propell the inside of the pipe. It is also possible to run, that is, it can be conveniently used as a so-called self-supporting "turbine crawler that runs in a pipe with a flow and obtains power from the flow" that does not require an electric cable or a power hose.

A front sectional view of a turbine crawler that runs in a pipe with a flow and is powered by the flow, configured in accordance with the present invention. The right side view of the turbine crawler shown in FIG. FIG. 1 is a cross-sectional view taken along the line AA in FIG. FIG. 1 is a cross-sectional view taken along the line BB in FIG.

Tube 1
Pipe inner surface contact seal member 21
Main frame member 22
Conical tubular case 221
Cylindrical case 222
Fluid supply hole 223
Bearing member 224
Driven wheel 225
Bearing member mounting bracket 229
Rotor 23
Rotor rotation shaft 231
First boss member 232
Fluid supply hole 233
2nd boss member 234
Rotating nozzle 235
Rotor central space 236
Planet gear reducer 241
Planet gear output shaft 242
Universal joint 25
Swing wheel unit 26
Swing wheel unit Rotating shaft 261
Driven wheel 262
Driven wheel extrusion rod Non-rotating cylinder 263
Actuator for rod non-rotating cylinder swivel 264
Rod The direction in which the rod of the non-rotating cylinder moves 265
Direction in which the cylinder case of the rod non-rotating cylinder turns 266
Pin 271
Driven wheel 272
Cylinder 273
Power unit 28
Power unit input shaft 281
Hydraulic unit / power generation unit 282
Bearing block 283
Body frame 284
Driven wheel 285
Direction of fluid flow in the pipe 81
Rotor rotation direction 83
Rotation direction 84 of the swing wheel unit
Direction 85 in which the turbine crawler travels in the state of the swing wheel unit shown in FIG.

Claims (1)

In a turbine crawler that runs in a pipe with a flow and obtains power from the flow.
The turbine crawler is composed of a main frame member, a pipe inner surface contact seal member, and a rotor.
The mainframe member is formed in an annular shape, the pipe inner surface contact seal member is attached to the outer peripheral end portion of the mainframe member, a fluid supply hole is formed in the central portion of the mainframe member, and the mainframe member is formed. Further, a bearing member for holding the rotor rotation shaft, which is a member constituting the rotor, is mounted on the central portion of the rotor.
The pipe inner surface contact seal member is formed so that the entire shape is annular and can be brought into close contact with the inner surface of the pipe by being deformed.
The rotor has a rotor rotation shaft whose one is held by the bearing member, a first boss member mounted on the other side of the rotor rotation shaft, and a second boss member arranged on the outer peripheral portion of the first boss member. And a single or a plurality of rotary nozzles mounted on the outer peripheral portion of the second boss member.
An annular rotor center space is formed between the outer peripheral surface of the first boss member and the inner peripheral surface of the second boss member, and in the rotor center space, the fluid supply hole which is one end surface thereof is formed. While maintaining airtightness with the fluid supply hole of the mainframe member, they communicate with each other in a rotatable state, and the other end surface of the rotor central space is airtightly closed.
The upstream end of the rotary nozzle communicates with the rotor center space, and the downstream end of the rotary nozzle is opened to the space inside the tube.
A rotor flow path that starts from the fluid supply hole of the mainframe member on the upstream side and reaches the rotary nozzle outlet as the end point on the downstream side via the fluid supply hole, the rotor center space, and the rotary nozzle. Is formed,
The axis of the jet that blows out from the outlet of the rotary nozzle is arranged at a position where the jet applies rotational torque to the rotor.
Let Q be the value of the flow rate per unit time of the fluid flowing into the rotor central space from the fluid supply hole, and let A be the value of the cross-sectional area of the minimum area in the cross-sectional area of the flow path through which the fluid of the flow rate Q passes. The pressure value at the upstream end of the pipe is P1, the pressure value at the immediately preceding portion of the turbine crawler in the upstream region of the turbine crawler is P2, and the pressure value of the turbine crawler in the downstream region of the turbine crawler is P2. When the value of the pressure in the immediately following portion is P3, the value of the pressure at the downstream end of the pipe is P4, P1-P4 = PL1, and P2-P3 = PL2, the value of PL2 is the PL1. The value of A is set so that it is smaller than the value of (PL2 ≠ PL1).
A turbine crawler to which a device for generating power is connected to the rotor rotating shaft, which travels in a pipe having a flow toward the upstream direction of the flow and obtains power from the flow.

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