Abstract: A coupling pin 20 is inserted through insertion holes of both end plates such that a head portion 20a thereof abuts an end plate 104 of one segment 1a and inclined surfaces S3 of notch portions 20c and 20d protrude from an end plate 105 of the other segment 1b. A clamp member 30 is disposed at a position where the inclined surface T2? of a leg portion 30b faces the inclined surface S3 of the notch portion, and the leg portion of the clamp member is press-fitted into the notch portion such that the inclined surface thereof is brought into surface contact with the inclined surface of the notch portion. The end plates of both the segments are clamped and both the segments are coupled in the circumferential direction due to movement of the clamp member toward the segment end plate direction corresponding to the angle of inclination of the leg portion, the movement being generated by the press-fitting of the leg portion of the clamp member.

Abstract: An in-pipe robot is provided with a rotary actuator 30 that rotates the drilling blade 21 in the circumferential direction of an existing pipe. A wheel body 50 provided with a traveling wheel 52 on both sides and a wheel body 70 provided with a traveling wheel 72 on both sides are supported between side frames 43 of a chassis via pins 54 and 74. The other ends of both the wheel bodies are rotatably coupled around an axle 63 of an intermediate wheel 65 as a pivot. When both the wheel bodies rotate, the intermediate wheels and the rotary actuator move above a horizontal line passing through the pin center. Each pin is disposed at the midpoint of a line connecting the center of the traveling wheel and the center of the intermediate wheel so that the rotation axis v1 of the rotary actuator coincides with the pipe center axis of the existing pipe.

Abstract: A spacer is inserted into a gap between an existing pipe and a rehabilitation pipe to adjust the position of the rehabilitation pipe inside the existing pipe. The spacer comprises a first wedge-shaped member with teeth formed at a predetermined pitch and a second wedge-shaped member having an elastic deformable member. The elastic deformable member is provided with teeth that engage with the teeth of the first wedge-shaped member so that the second wedge-shaped member can move relative to the first wedge-shaped member in the insertion direction and cannot be moved in the opposite direction. The second wedge-shaped member is provided with a filler passage hole for passing therethrough a filler injected into the gap between the existing pipe and the rehabilitation pipe.

Abstract: One cylindrical pipe is inserted into the hollow cylindrical portions of first and second holders made of hard plastic, and the other cylindrical pipe is inserted into the hollow semi-cylindrical portions. The first and second pipe holders are butted together at butt surfaces, respectively. The cylindrical pipe inserted into the butted hollow cylindrical portions is held in the hollow cylindrical portions using a clamping tool, and the cylindrical pipe inserted into a cylindrical portion that becomes hollow cylindrical by butting is held in the hollow semi-cylindrical portions using the clamping tool.

Abstract: Segments are linked in the circumferential direction to assemble a pipe unit. A link bolt is used to link the segments of the pipe unit in the longitudinal direction to assemble a rehabilitation pipe inside an existing pipe. An elastically deformable hollow cylindrical member having a tongue is attached to the link bolt between the inner plates. The outer diameter of the cylindrical member is larger than the insertion hole of the inner plate through which the link bolt can pass. This allows the link bolt to be prevented from falling out of the segment when the link bolt moves in the longitudinal direction due to gravity. When a force is applied to the tongue from below, the cylindrical member is elastically deformed and can be removed from the link bolt.

Abstract: An in-pipe robot is provided with a rotary actuator 30 that rotates the drilling blade 21 in the circumferential direction of an existing pipe. A wheel body 50 provided with a traveling wheel 52 on both sides and a wheel body 70 provided with a traveling wheel 72 on both sides are supported between side frames 43 of a chassis via pins 54 and 74. The other ends of both the wheel bodies are rotatably coupled around an axle 63 of an intermediate wheel 65 as a pivot. When both the wheel bodies rotate, the intermediate wheels and the rotary actuator move above a horizontal line passing through the pin center. Each pin is disposed at the midpoint of a line connecting the center of the traveling wheel and the center of the intermediate wheel so that the rotation axis vi of the rotary actuator coincides with the pipe center axis of the existing pipe.

Abstract: One cylindrical pipe is inserted into the hollow cylindrical portions of first and second holders made of hard plastic, and the other cylindrical pipe is inserted into the hollow semi-cylindrical portions. The first and second pipe holders are butted together at butt surfaces, respectively. The cylindrical pipe inserted into the butted hollow cylindrical portions is held in the hollow cylindrical portions using a clamping tool, and the cylindrical pipe inserted into a cylindrical portion that becomes hollow cylindrical by butting is held in the hollow semi-cylindrical portions using the clamping tool.

Abstract: Segments are linked in the circumferential direction to assemble a pipe unit. A link bolt is used to link the segments of the pipe unit in the longitudinal direction to assemble a rehabilitation pipe inside an existing pipe. An elastically deformable hollow cylindrical member having a tongue is attached to the link bolt between the inner plates. The outer diameter of the cylindrical member is larger than the insertion hole of the inner plate through which the link bolt can pass. This allows the link bolt to be prevented from falling out of the segment when the link bolt moves in the longitudinal direction due to gravity. When a force is applied to the tongue from below, the cylindrical member is elastically deformed and can be removed from the link bolt.

Abstract: A drilling apparatus has a work robot mounting a drilling blade and moving inside a main pipe and a photodetector for detecting the contour of an opening image formed on the inner surface of a pipe lining material by illumination light. The opening image is scanned, and a two-dimensional image corresponding to the opening image is generated based on the contour points P0 to P8 detected by the photodetector for display on a display unit. The amount of positional deviation between the center of the two-dimensional image on the display unit and the axial center C of the rotary shaft of the drilling blade is calculated, and the pipe lining material is drilled by moving the drilling blade by the amount of positional deviation in a direction in which the positional deviation is eliminated.

Abstract: A drilling apparatus includes a hydraulic motor 27 for rotating a drilling blade 30 that drills a pipe lining material 13, laser light sources 40, 41 for emitting laser beams toward the pipe lining material parallel to the rotary shaft of the drilling blade from positions near the drilling blade to form laser spots on the inner circumferential surface of the pipe lining material, an electric motor 28 for rotating the laser light sources coaxially with the rotary shaft of the drilling blade, and a camera 50 for photographing the trajectory of the laser spots rotating on the inner circumferential surface of the pipe lining material and a bright area that is formed on the inner circumferential surface of the pipe lining material by illumination light from the lateral pipe side. The positioning of the drilling blade is performed so that the trajectory image and the bright area image match.

Abstract: A drilling apparatus has a work robot mounting a drilling blade and moving inside a main pipe and a photodetector for detecting the contour of an opening image formed on the inner surface of a pipe lining material by illumination light. The opening image is scanned, and a two-dimensional image corresponding to the opening image is generated based on the contour points P0 to P8 detected by the photodetector for display on a display unit. The amount of positional deviation between the center of the two-dimensional image on the display unit and the axial center C of the rotary shaft of the drilling blade is calculated, and the pipe lining material is drilled by moving the drilling blade by the amount of positional deviation in a direction in which the positional deviation is eliminated.

Abstract: A spacer is inserted in a gap between an existing pipe and a rehabilitation pipe to adjust the position of the rehabilitation pipe inside the existing pipe. The spacer comprises first and second wedge-shaped members each having an inclined surface of the same inclination angle and being overlapped with the inclined surfaces thereof overlapped. Latching teeth are formed in the inclined surfaces of the first and second wedge-shaped members so that the second wedge-shaped member is movable relative to the first wedge-shaped member in the insertion direction of the spacer to stepwise increase an overall height thereof, but immovable in the reverse direction.

Abstract: A spacer is inserted in a gap between an existing pipe and a rehabilitation pipe to adjust the position of the rehabilitation pipe inside the existing pipe. The spacer comprises first and second wedge-shaped members each having an inclined surface of the same inclination angle and being overlapped with the inclined surfaces thereof overlapped. Latching teeth are formed in the inclined surfaces of the first and second wedge-shaped members so that the second wedge-shaped member is movable relative to the first wedge-shaped member in the insertion direction of the spacer to stepwise increase an overall height thereof, but immovable in the reverse direction.

Abstract: Prior to lining a main pipe, a marker configured as a receiving coil 33 is disposed at the center 12b of a lateral pipe opening or at a position separated a predetermined distance S from the center thereof. An in-pipe robot 20 is loaded coaxially or separated by the predetermined distance with a rotatable drilling blade 31 for drilling a hole in a main pipe lining material 13 that blocks the lateral pipe opening and a transmitting coil 40 that detects a marker position. After lining the main pipe, the drilling blade and the transmitting coil are moved in conjunction in the main pipe longitudinal direction and in the main pipe circumferential direction to drill a hole in the main pipe lining material at a position where the electromagnetic coupling of both the coils becomes maximum.

Abstract: Segments are linked in the circumferential direction to assemble a pipe unit, which is linked to another pipe unit in the pipe-length direction to assemble a rehabilitation pipe inside an existing pipe. Before the pipe unit is assembled or after the pipe unit has been assembled, a spacer is attached to the segment using a spacer holder to prevent the spacer from falling down from the segment. The pipe unit having the spacer attached to the segment is linked to the pipe units that have already been linked. The rehabilitation pipe is positioned relative to the existing pipe using the spacer that is attached to the segment. A filler is injected between the positioned rehabilitation pipe and the existing pipe.

Abstract: Segments are linked in the circumferential length to assemble a pipe unit, which is linked to another pipe unit using a link bolt to install a rehabilitating pipe inside an existing pipe. An elastically deformable clip having a cylindrical cavity with a notch is attached to the link bolt between the inner plates of the segment. The clip grips the link bolt at the cavity thereof that is enlarged due to elastic deformation. When the link bolt is moved in the direction opposite the insertion direction, the clip that grips the link bolt hits the inner plate of the segment to limit the movement of the link bolt in the opposite direction and prevent the link bolt from falling out of the segment.

Abstract: A spacer is inserted into a space between an existing pipe and a rehabilitating pipe to adjust a position of the rehabilitating pipe with respect to the existing pipe. The spacer has an elongated shape with both end portions in a longitudinal direction thereof cut off at an oblique angle and has a transverse width increasing gradually from an upper surface portion to a bottom surface portion. A space is formed in the bottom surface portion to correspond to a shape of the upper surface portion, thereby allowing a number of the spacers to be stacked on one another in a thickness direction thereof. The upper surface portion has a flat-plate shape with a flat rectangular surface region.

Abstract: A pipe lining material impregnated with a thermosetting resin is inserted into a pipe and the thermosetting resin impregnated therein is cured to line the pipe with the pipe lining material. A circulation pump is used to circulate water in a water tank to a boiler to heat the water into hot water. The hot water is pumped using a spraying pump and sprayed on the pipe lining material to cure the thermosetting resin impregnated therein. After the thermosetting resin has been cured, the hot water pumped using the circulation pump is circulated to a cooler to cool the hot water into cool water, which is sprayed on the cured thermosetting resin to cool it. The sprayed hot or cool water that remains inside the lined pipe is returned to the water tank for circulation to the boiler or the cooler.

Abstract: Segments are linked in the circumferential direction to assemble a pipe unit, which is linked to another pipe unit in the pipe-length direction to assemble a rehabilitation pipe inside an existing pipe. Before the pipe unit is assembled or after the pipe unit has been assembled, a spacer is attached to the segment using a spacer holder to prevent the spacer from falling down from the segment. The pipe unit having the spacer attached to the segment is linked to the pipe units that have already been linked. The rehabilitation pipe is positioned relative to the existing pipe using the spacer that is attached to the segment. A filler is injected between the positioned rehabilitation pipe and the existing pipe.

Abstract: An existing pipe that is to be rehabilitated has concavely curved portions and straight portions as viewed in cross-section orthogonal to the longitudinal direction of the existing pipe. For pipe rehabilitation at the curved portion of the existing pipe, a plurality of rectangular parallelepiped segments whose inner surface plate, side plates and end plates are all rectangular are used. A spacer is interposed between the end plates of the rectangular parallelepiped segments. The spacer has first and second contact surfaces that are inclined relative to each other and come into contact with the end plates of the rectangular parallelepiped segments when they are linked in the circumferential direction.