Working device capable of moving inside pipe

Abstract

A working device is capable of moving inside a pipe, whereby it is possible to exert the extremely large driving force in the pipe, and provided the device for performing the work sufficiently such as the cleaning, the vacuum recovering, and the forcibly drying the wet internal surface of the pipe. The device which moves along the pipe and operates on the internal surface of the pipe, comprising: material feeding pipe, pressure boundary partition, pressure boundary seal, nozzle unit, material feeding hose, traveling device, feeding device of the surface processing material, vacuum generating means, negative pressure space, and environment pressure space. Wherein, negative pressure space and environment pressure space are defined in the pipe by pressure boundary partition and pressure boundary seal, and vacuum breaking valve mechanism maintains fixedly the differential-pressure between the negative pressure space and the environment pressure space, and which makes the environment fluid to flow into the negative pressure space from the environment pressure space.

Claims

1. A working device for processing inside a pipe, comprising: a mobile crawler to be placed inside the pipe; a wire rope attached to the mobile crawler to pull the mobile crawler; a feeding device attached to the mobile crawler to feed a surface processing material; a vacuum generating unit; and a suction hose to be connected to one end of the pipe and the vacuum generating unit, wherein said mobile crawler includes: a material feeding portion connected to the feeding device to feed the surface processing material; a pressure boundary seal portion contacting with an internal surface of the pipe, said pressure boundary seal having an annular shape and being formed of a flexible material; a nozzle unit connected to the material feeding portion to eject the surface processing material toward the internal surface of the pipe; a vacuum breaking valve mechanism to control a differential-pressure between a front side and a rear side thereof; and a material feeding hose connected to the material feeding portion to feed the surface processing material, and said vacuum breaking valve mechanism includes: a pressure boundary partition disposed on an outer circumference of the material feeding portion, said pressure boundary partition having a valve hole to communicate between the front side and the rear side of the vacuum breaking valve mechanism; a valve plate disposed to close the valve hole; and a coil spring or valve plate actuator disposed to urge the valve plate toward the valve hole.

2. The working device for processing inside a pipe described in claim 1, wherein said pressure boundary seal has an end portion contacting; with the internal surface of the pipe.

3. A working device for processing inside a pipe, comprising: a mobile crawler to be placed inside the pipe; a wire rope attached to the mobile crawler to pull the mobile crawler; a feeding device attached to the mobile crawler to feed a surface processing material; a vacuum generating unit; and a suction hose to be connected to one end of the pipe and the vacuum generating unit, wherein said mobile crawler includes: a material feeding portion connected to the feeding device to feed the surface processing material; a pressure boundary seal portion contacting with an internal surface of the pipe, said pressure boundary seal having an annular shape and being formed of a flexible material; a nozzle unit connected to the material feeding portion to eject the surface processing material toward the internal surface of the pipe; a vacuum breaking valve mechanism to control a differential-pressure between a front side and a rear side thereof; and a material feeding hose connected to the material feeding portion to feed the surface processing material, and said vacuum breaking valve mechanism includes: a moving pressure boundary partition disposed to be movable while contacting with an outer circumference of the material feeding portion; and a coil spring or valve plate actuator disposed to urge the moving pressure boundary partition toward the rear side of the vacuum breaking valve mechanism.

4. The working device for processing inside a pipe described in claim 3, wherein said pressure boundary seal has an arc sectional shape so that a central portion thereof contacts with the internal surface of the pipe, and said pressure boundary seal has an end portion attached to the moving pressure boundary partition.

Description

DESCRIPTIONS OF THE PREFERRED EMBODIMENTS

(1) Preferred embodiments of the working device configured according to the present invention will be described in detail below, referring to the figures attached hereto.

(2) FIG. 1 through 3 shows the first preferred embodiment of the “working device capable of moving along the pipe” configured according to the present invention, wherein it is shown the configuration of the mobile crawler 2 and the devices which are connected to the mobile crawler 2.

(3) Describes the configuration of the mobile crawler 2 and the devices which are connected to the mobile crawler 2, comprising:

(4) The mobile crawler 2 placed inside the pipe 1;

(5) The suction hose 5, of which upstream end being connected to the mobile crawler 2, of which downstream end being connected to the upstream side inlet of the solid fluid separation device 4;

(6) The roots type vacuum pump 3 as the vacuum generating means, of which upstream inlet being connected to the downstream side outlet of the solid fluid separation device 4, of which downstream outlet being released into the space that surround the pipe 1;

(7) The abrasives blast tank 14 as the feeding device of the surface processing material, which is connected to the abrasives blast hose as the material feeding hose;

(8) The air compressor 13 as the air source to feed the abrasives by the compressed air.

(9) Describes in detail the configuration of the mobile crawler 2, comprising:

(10) The material feeding pipe 24, which is arranged in the axis part of the pipe 1, and which feeds the surface processing material such as the abrasives;

(11) The pressure boundary partition 22 which is mounted outside the circumference of the material feeding pipe 24;

(12) The pressure boundary seal 21, which is mounted outside the circumference of the pressure boundary partition 22, of which free end portion touches the internal circumference of the pipe 1, of which whole shape is annular, and which is made of the flexible material such as polyurethane;

(13) The spin nozzle unit 44, which is connected to one end of the material feeding pipe 24, which possesses the same axis as the axis of the pipe 1, which ejects the surface processing material such as the abrasives toward the internal surface of the pipe 1, or which sprays the surface processing material toward the internal surface of the pipe 1, or which supplies the surface processing material on the internal surface of the pipe 1;

(14) The abrasives blast hose 15, which is connected to another end of the material feeding pipe 24, which feeds the surface processing material such as the abrasives; and The vacuum breaking valve mechanism.

(15) Describes in detail the configuration of the vacuum breaking valve mechanism, comprising:

(16) The pressure boundary partition 22;

(17) The valve holes 61, which are formed on the pressure boundary partition 22;

(18) The valve plate 64, of which shape is circular;

(19) The spring receiving plate 67, of which shape is circular, which is capable of sliding freely in the direction of the axis of the pipe 1 along the peripheral surface of the pipe 1;

(20) The valve rods 65, which are mounted between the valve plate 64 and the spring receiving plate 67;

(21) and the compression coil spring 66, which pushes the valve plate 64 toward the valve hole 61 strongly.

(22) The pressure boundary partition unit is comprised of the pressure boundary seal 21, the pressure boundary partition 22, the material feeding pipe 24 and the valve plate 64; and the pressure boundary partition unit divides the internal space of the pipe 1 into two spaces such as the negative pressure space A0 and the environment pressure space B0.

(23) Describes in detail the actions of the first preferred embodiment of the “working device capable of moving along the pipe” described in the above:

(24) Being activated the roots type vacuum pump 3 having sufficient suction air volume, the air inside the environment pressure space B0 is sucked toward the downstream side—in other words—in the direction of the roots type vacuum pump 3 through the gap between the self-seal type pressure boundary seal 21 and the internal surface of the pipe 1, then the pressure in the negative pressure space A0 is reduced because the fluid in the environment pressure space B0 is obstructed to flow into the negative pressure space A0 of which phenomenon is caused by the action of the self-seal type pressure boundary seal 21 which touches the internal surface of the pipe 1.

(25) Being increased the difference pressure between the fluid in the environment pressure space B0 and the fluid in the negative pressure space A0, the free-end portion 212 of the pressure boundary seal 21 is received the strong power toward the negative pressure space A0 from the environment pressure space B0, and the free-end portion 212 is pressed strongly on the internal surface of the pipe 1, then it becomes very narrow the gap between the pressure boundary seal 21 and the internal surface of the pipe 1.

(26) In the following, the pressure in the negative pressure space A0 is reduced to the set pressure of the vacuum breaking valve mechanism—an assumed set pressure is −200 mmHg.

(27) The black arrow 81 in the figure shows the direction that the fluid such as atmosphere flows.

(28) As the negative pressure space A0 is reduced, the fluid in the environment pressure space B0 flows into the negative pressure space A0 through the narrow gap between the pressure boundary seal 21 and the internal surface of the pipe 1.

(29) Described below about the phenomenon to be caused by actual gap between the internal surface of the pipe 1 and the pressure boundary seal 21, the high-speed air flow flows from the environment pressure space B0 into the negative pressure space A0 through the narrow gap due to the irregularity and the wound formed by rust and etc. on the surface of the pipe 1 and on the surface of the pressure boundary seal 21.

(30) The high-speed air flow is very effective to clean by vacuum the dirt and to dry up the water on the internal surface of the pipe 1.

(31) Describes in detail the actions of the vacuum breaking valve mechanism, explaining.

(32) When the pressure in the negative pressure space A0 becomes less than −200 mmHg, the pressure of the atmosphere overcomes the power of the compression coil spring 66 and pushes the valve plate 64 to open, then the atmosphere flows into the negative pressure space A0, thus the pressure in the negative pressure space A0 is maintained in −200 mmHg.

(33) The mobile crawler 2 receives the large self-driving force toward the left direction which the white arrow 82 shows, of which phenomenon is due to the differential-pressure—200 mmHg—between the negative pressure space A0 and the environment pressure space B0.

(34) Namely, the mobile crawler 2 has the large self-driving force toward the negative pressure space A0 from the environment pressure space B0 without depending on the external force such as the winch arranged outside of the pipe 1.

(35) Accordingly, the mobile crawler 2 is capable of moving easily in the pipe 1 hauling the material feeding hose 15, of which weight is heavy and therefore the friction is large.

(36) As to the means to control the traveling speed of the mobile crawler 2 which travels along pipe 1, the traveling speed of the mobile crawler 2 is controlled by winding speed of the wire rope 70 which is wound onto the winch—not showed, which is arranged outside of the pipe 1, of which wire rope end is connected to the mobile crawler 2, of which rotating speed is variable and the rotating direction is possible to be changed.

(37) The mobile crawler 2 travels toward the negative pressure space A0 from the environment pressure space B0 when the winch winds back the wire rope 70, and the mobile crawler 2 travels toward the environment pressure space B0 from the negative pressure space A0 when the winch winds up the wire rope 70.

(38) As to another means to make the mobile crawler 2 to travel inside the pipe 1 and to control the traveling speed, it is possible to be used the well-known means instead of the winch in order to make the mobile crawler 2 to travel and to control the traveling speed.

(39) In the mobile crawler 2 of this invention, while the mobile crawler 2 travels along the internal surface of the pipe 1, the pressure boundary seal 21 scrubs the surface in condition that the pressure boundary seal 21 adheres to the surface, thus the foreign matter such as the rust stuck on the surface is removed.

(40) The suction air with the foreign matter removed is transferred to the roots type vacuum pump 3 from the environment pressure space B0 through the vacuum breaking valve mechanism, the negative pressure space A0, the suction hose 5 and the solid-fluid separator 4, thus the clean air is released into the atmosphere from the exit of the roots type vacuum pump 3 after separated the air from the removed particle and the drainage by the solid-fluid separator 4.

(41) The material feeding pipe 24 of the mobile crawler 2 is mounted with the spinning nozzle unit 44, which is arranged in the negative pressure space A0, which blasts the abrasives toward the internal surface of the pipe 1 and removes the foreign matter such as the rust or the old coating stuck on the surface, thus the surface is cleaned and formed rough as the best foundation for the surface preparation for the coating such as the thermal spraying.

(42) The suction air with the used abrasives and the foreign matter removed is transferred to the roots type vacuum pump 3 from the environment pressure space B0 through the vacuum breaking valve mechanism, the negative pressure space A0, the suction hose 5 and the solid-fluid separator 4, thus the clean air is released into the atmosphere from the exit of the roots type vacuum pump 3 after separated the air from the used abrasives and the removed particle by the solid-fluid separator 4.

(43) As to the means which is equipped with the mobile crawler 2 and which processes on the internal surface of the pipe 1, it is not limited to the abrasives blasting means.

(44) For example, the mobile crawler 2 can be provided with the ultra-high pressure water-jetting unit or the thermal spraying unit instead of the abrasives blasting unit.

(45) FIG. 4 shows the mobile crawler 2 of the second preferred embodiment of the “working device capable of moving along the pipe” configured according to the present invention.

(46) Describes in detail the configuration of the mobile crawler 2, comprising:

(47) The material feeding pipe 24, which is arranged in the axis part of the pipe 1, and which feeds the surface processing material such as the abrasives;

(48) The moving pressure boundary partition 23, of which shape is circular, which is capable of sliding freely in the direction of the axis of the pipe 1 and along the peripheral surface of the material feeding pipe 24;

(49) The pressure boundary partition 243, of which shape is circular, which is welded outside the circumference of the material feeding pipe 24, on which the hole 244 is formed, on which the eye-bolt 245 is welded;

(50) The pressure boundary seal 21, of which end portions are mounted on outside the circumference of the pressure boundary partition 22 and outside the circumference of the pressure boundary partition 243, of which free end portion touches the internal circumference of the pipe 1, of which whole shape is annular, and which is made of the flexible material such as polyurethane;

(51) The spin nozzle unit 44, which is connected to one end of the material feeding pipe 24, which possesses the same axis as the axis of the pipe 1, which ejects the surface processing material such as the abrasives toward the internal surface of the pipe 1;

(52) The abrasives blast hose 15, which is inserted and fixed in the material feeding pipe 24, which feeds the surface processing material such as the abrasives; and The vacuum breaking valve mechanism.

(53) Describes in detail the configuration of the pressure boundary seal 21 of the second preferred embodiment of this invention, comprising:

(54) Two pieces of the fixing end portions 211 of which shape is circular; The free top portion 212 of which shape is circular; The lip portion 213, of which shape is circular, which is united with the moving pressure boundary partition 23.

(55) Thus, the lip portion 213 can slide along the outside of the circumference of the material feeding pipe 24 air-tightly.

(56) Describes in detail the configuration of the vacuum breaking valve mechanism of the second preferred embodiment of this invention, comprising:

(57) The moving pressure boundary partition 23, which is capable of sliding freely in the direction of the axis of the pipe 1 and along the peripheral surface of the material feeding pipe 24;

(58) The spring receiving plate 67, of which shape is circular, which is capable of sliding freely in the direction of the axis of the pipe 1 and along the peripheral surface of the material feeding pipe 24;

(59) The valve rods 65, which are mounted between the valve plate 64 and the spring receiving plate 67;

(60) The seal fixing end portion 211 of the pressure boundary seal 21, which is situated at the negative pressure space A0, which is fixed on the moving pressure boundary partition 23;

(61) The lip portion 213, which is united with the moving pressure boundary partition 23, which can slide along the outside of the circumference of the material feeding pipe 24 air-tightly.

(62) The compression coil spring 66, which pushes the moving pressure boundary partition 23 and the lip portion 213 toward the environment pressure space B0 strongly. The pressure boundary partition unit is comprised of the pressure boundary seal 21, the pressure boundary partition 22, the material feeding pipe 24 and the valve plate 64; and the pressure boundary partition unit divides the internal space of the pipe 1 into two spaces such as the negative pressure space A0 and the environment pressure space B0.

(63) Describes in detail the actions of the second preferred embodiment of the “working device capable of moving along the pipe” described in the above: Being activated the roots type vacuum pump 3 having sufficient suction air volume, the air inside the environment pressure space B0 is sucked toward the downstream side—in other words—in the direction of the roots type vacuum pump 3 through the gap between the self-seal type pressure boundary seal 21 and the internal surface of the pipe 1, then the pressure in the negative pressure space A0 is reduced because the fluid in the environment pressure space B0 is obstructed to flow into the negative pressure space A0 of which phenomenon is caused by the action of the self-seal type pressure boundary seal 21 which touches the internal surface of the pipe 1.

(64) Being increased the difference pressure between the fluid in the environment pressure space B0 and the fluid in the negative pressure space A0, the free-end portion 212 of the pressure boundary seal 21 is received the strong power toward the negative pressure space A0 from the environment pressure space B0, and the free-end portion 212 is pressed strongly on the internal surface of the pipe 1, then it becomes very narrow the gap between the pressure boundary seal 21 and the internal surface of the pipe 1.

(65) In the following, the pressure in the negative pressure space A0 is reduced to the set pressure of the vacuum breaking valve mechanism—an assumed set pressure is −200 mmHg.

(66) As the negative pressure space A0 is reduced, the fluid in the environment pressure space B0 flows into the negative pressure space A0 through the narrow gap between the pressure boundary seal 21 and the internal surface of the pipe 1.

(67) Described below about the phenomenon to be caused by actual gap between the internal surface of the pipe 1 and the pressure boundary seal 21, the high-speed air flow flows from the environment pressure space B0 into the negative pressure space A0 through the narrow gap due to the irregularity and the wound formed by rust and etc. on the surface of the pipe 1 and on the surface of the pressure boundary seal 21.

(68) The high-speed air flow is very effective to clean by vacuum the dirt and to dry up the water on the internal surface of the pipe 1.

(69) Describes in detail the actions of the vacuum breaking valve mechanism, explaining.

(70) When the pressure in the negative pressure space A0 becomes less than −200 mmHg, the pressure of the atmosphere overcomes the power of the compression coil spring 66 and pushes the moving pressure boundary partition 23 toward the negative pressure space A0.

(71) Thus, the gap between the free top portion 212 of the pressure boundary seal 21 and the internal surface of the pipe 1 is enlarged, then the atmosphere flows into the negative pressure space A0 through the enlarged gap, thus the pressure in the negative pressure space A0 is maintained in −200 mmHg.

(72) The preferred embodiments of the present invention are described in the above, however it is possible to conceive the other various embodiments based on the scope of the claims.

(73) The descriptions in the above of the preferred embodiments of the present invention assumed that the device of the present invention existed in the atmosphere, but the device of the present invention may be applied underwater.

(74) This invention is very useful as the working device capable of moving along the pipe; having a repair device/s that acts on the surface of the pipe, such a repair device may be a cleaning device to remove foreign matter such as rust or aquatic organisms attached to the internal surface of the pipe such as a clear-water pipe, drainage or gas pipe, and such a repair device also may be a coating device to spray coating material such as paint or corrosion resistant alloys to the surface of the pipe after removing the foreign matter; and the device of this invention is also provided with the additional function of efficient working such as the cleaning, the vacuum recovering, and the forcibly drying the wet internal surface of the pipe.

(75) Further, this invention is also very useful as the working device capable of moving along the pipe; having a special feature that the mobile crawler of this invention has large self-driving force toward the negative pressure space from the environment pressure space without depending on the external force such as the winch arranged outside of the pipe, therefore the mobile crawler is capable of moving easily in the pipe hauling the material feeding hose, of which weight is heavy and therefore the friction is large.

BRIEF DESCRIPTION OF THE DRAWING

(76) FIG. 1 is an overall view of the first preferred embodiment of the “working device capable of moving along the pipe” configured according to the present invention, showing the configuration of the first preferred embodiment of the working device that includes the mobile crawler and the devices which are connected to the mobile crawler.

(77) FIG. 2 is an enlarged section view of the mobile crawler shown in FIG. 1.

(78) FIG. 3 is a side view from the arrows A-A of the mobile crawler shown in FIG. 2.

(79) FIG. 4 is an enlarged section view of the mobile crawler of the second preferred embodiment of the “working device capable of moving along the pipe” configured according to the present invention.

REFERENCE NUMERALS OR MARKES

(80) negative pressure space A0; environment pressure space B0; pipe 1; pipe end plug 101; roots type vacuum pump 3; solid-fluid separator 4; suction hose 5; air compressor 13; abrasives blast tank 14; abrasives blast hose 15; mobile crawler 2; pressure boundary seal 21; fixing end portions 211; free top portion 212; lip portion 213; pressure boundary partition 22, moving pressure boundary partition 23; material feeding pipe 24; fixing spring receiving plate 242; pressure boundary partition 243; hole 244; eye-bolt 245; vacuum breaking valve mechanism; valve hole 61; valve plate 64; valve rod 65; compression coil spring 66; spring receiving plate 67; spin nozzle unit 44; fluid flowing direction 81; mobile crawler working direction 82: