JP4384430B2 - Steel pipe structure inner surface repair device - Google Patents

Description

[0001]
BACKGROUND OF THE INVENTION
The present invention relates to a steel pipe structure inner surface repair device that investigates the inner surface of a steel pipe structure, removes rust from the inner surface, and rust-proofs the inner surface in an equipment for rust-proofing the inner surface of a steel pipe structure.
[0002]
[Prior art]
The repair of the inner surface of a steel pipe structure is broadly divided into an inner surface inspection process of the steel pipe structure, an inner surface rust removal process based on the result of the investigation, and an inner surface rust prevention process after rust removal.
[0003]
(1) Conventional internal inspection process
Conventionally, it has been assumed that the inner surface of a sealed steel pipe structure will have no air flow and little corrosion. Therefore, an appropriate survey method has not yet been established. However, some representative examples are as follows.
[0004]
First, there is a method in which a steel pipe member sampled from a steel pipe structure is divided into two vertically and the film thickness is measured with a film thickness measuring device. This method is not efficient in terms of time and cost because the member is destroyed and investigated.
[0005]
There is also a method of measuring the film thickness by inserting a probe into the steel pipe member (see, for example, Patent Documents 1, 2, and 3). This method cannot measure the true film thickness because there is an oxide film on the surface of the measurement part. In order to measure the true value, it is necessary to mechanically remove the oxide film.
[0006]
There is also a method of measuring the steel pipe wall thickness from the outside of the steel pipe member using a plate thickness measuring device. This method is excellent in terms of non-destructive inspection from the outside of the steel pipe member, but cannot be discovered unless the measurement accuracy is low and corrosion progresses to reduce the thickness of the steel material.
[0007]
There is also a method in which an endoscope is inserted into the steel pipe member and visually evaluated. In this method, since the initial insertion portion of the steel pipe member is thin and the pipe diameter changes thickly as it is inserted, it is difficult to produce a position holding unit that moves while holding the endoscope inside the member. In some cases, it is possible to insert an endoscope with a hole in the member, but the strength of the member after opening is reduced.
[0008]
Further, there is a method in which a hammer is hit with a mallet, a plastic, a hammer or the like, and the corrosion product is dropped or evaluated from the presence or absence of holes. This method is suitable for detecting a portion where the progress of rust is remarkable, but the detection time is delayed.
[0009]
(2) Conventional internal rust removal process
Conventionally, the inner surface of a sealed steel pipe structure is based on the premise that there is no air flow and there is almost no corrosion, so an appropriate rust removal method has not yet been established. However, some representative examples are as follows.
[0010]
There is a method of removing a part of the steel pipe member from the steel pipe structure and removing the rust based on the result of the investigation. In this method, when the removed steel pipe member is the main pillar material, it is necessary to attach a temporary reinforcing material. The main column material is a member that bears the main stress acting on the steel pipe structure, and is difficult to remove. Furthermore, there are many mountainous areas where steel pipe structures are constructed, and it is difficult to carry in, remove and install heavy machinery.
[0011]
Therefore, a method for removing rust on the inner surface of the steel pipe structure without removing the steel pipe member is required. However, the steel pipe structure is constructed almost vertically from the ground surface, and the length of the structure may exceed 200 m. Furthermore, some steel pipe structures have a bending point where the inclination of the main column material changes discontinuously in the middle, and there are various angles of the bending point. After inserting the inner surface derusting apparatus into the member, it is very difficult to remove the inner surface of the member by moving it to the required position. Since the member dimensions of the main pillar material are thinner as the ground height is higher and change as the height is lower, it is necessary to change the device used according to the member dimensions. In addition, workers must climb to the top of the steel pipe structure, work in high places and confined work spaces, and use large power sources and complex internal rust removal equipment. There are many problems.
[0012]
(3) Conventional internal rust prevention treatment process
Even if internal insertion painting, external painting, partial removal painting, etc. are performed using the methods described in (1) and (2) above, the same problems as described above remain.
[0013]
[Patent Document 1]
JP 2000-241152 A
[Patent Document 2]
JP 2000-266532 A
[Patent Document 3]
JP 2000-321047 A
[0014]
[Problems to be solved by the invention]
Conventionally, the inside of a sealed steel pipe structure has no air flow in principle and should hardly cause corrosion. However, if the steel pipe structure is not completely sealed, or if a slight gap occurs due to aging, air flows into and out of the steel pipe structure through the opening or gap due to changes in temperature, and enters the inner surface of the steel pipe. As a result, condensation may occur on the inner surface of the steel pipe. Furthermore, corrosion due to acid rain, which has been considered as a cause of environmental destruction in recent years, cannot be ignored, and when rainwater flows into the steel pipe structure and stays inside, the progress of corrosion is remarkable.
[0015]
Therefore, the present invention can be widely applied to the inner surface investigation process of the steel pipe structure, the inner surface rust removal process based on the investigation result, and the inner surface rust prevention process after rust removal in the equipment for rust prevention treatment of the inner surface of the steel pipe structure. An object of the present invention is to provide a steel pipe structure inner surface repair device that can be easily remotely operated from the outside.
[0016]
INDUSTRIAL APPLICABILITY The present invention can be widely applied to an inner surface inspection process of an inner surface of a steel pipe structure, an inner surface derusting process based on the result of the inspection, and an inner surface antirust process after rust removal in an equipment for performing an antirust process on the inner surface of a steel pipe structure. It is an object of the present invention to provide a steel pipe structure inner surface repair device that can be easily remotely operated.
[0017]
Furthermore, the present invention is a facility for rust-proofing the inner surface of a steel pipe structure, with a structure where the insertion portion is thin and becomes thicker as the distance from the insertion portion increases, and further has a bending point in the middle, and the angle of the bending point However, it is an object of the present invention to provide a steel pipe structure inner surface repair device capable of operating various structures at once with one device.
[0018]
[Means for Solving the Problems]
  The steel pipe structure inner surface repair device of the present invention is a steel pipe structure inner surface repair device that hangs up and down in the steel pipe structure from an openable portion at the end of the steel pipe structure to repair the inner surface of the steel pipe structure. An inner surface inspection device for inspecting the inner surface of the steel pipe structure, an inner surface derusting treatment device for removing a rusted portion based on the investigation result, and an antirust treatment on the inner surface of the derusted portion after derusting. It is equipped with an inner surface rust prevention treatment device and a position holding unit for holding the steel pipe structure inner surface repair device inside the inner surface, and the inner surface rust treatment device and the inner surface rust prevention treatment device are assembled together to remove the inner surface rust. Constructing a rust prevention treatment device, the inner surface inspection device and the inner surface rust removal / rust prevention treatment device are configured to extend long in the direction of moving up and down the steel pipe structure inner surface repair device, and in that direction Arranged so as to extend long, Holding unit is connected via a bent portion in the longitudinal direction of the end portion of the inner surface inspection device and the inner surface rust removal, rust processor.
  The steel pipe structure inner surface repair device of the present invention is a facility for rust-proofing the inner surface of a steel pipe structure, the inner surface investigation process of the steel pipe structure, the inner surface rust removal process based on the investigation result, the inner surface rust prevention treatment after rust removal Widely applicable to the process. The problem solving means in each process will be described below.
[0019]
(1) Steel pipe structure inner surface investigation process
The components of the steel pipe structure inner surface inspection device used in this process are as follows.
a) A side monitoring camera for monitoring and confirming a rust-proofing operation at a portion to be rusted (hereinafter simply referred to as “rust-removal portion”) on the inner surface of a steel pipe member.
b) A forward monitoring camera that is provided at the forward end position in the steel pipe member to detect rust on the inner surface of the steel pipe member.
c) A controllable moving unit for moving each unit freely within the steel pipe member.
d) A casing for storing and integrating the respective units therein.
e) A position holding unit composed of at least two sets of three arms that can be freely opened and closed.
[0020]
In the steel pipe structure inner surface inspection device applicable to the present invention, first, the inspection device is inserted from a narrow openable portion of the constituent members of the steel pipe structure. After being inserted, the inner surface inspection device is held at substantially the center inside the steel pipe member. Therefore, the inner surface inspection device can freely move within the member, and the rust removal portion can be detected by two cameras incorporated in the inner surface inspection device. If it is difficult to detect with the front camera built into the inner surface inspection device, the rear camera is used for observation. Since the rear side monitoring camera has a rotation function, detailed observation is possible. A measuring roll is installed in the openable part of the steel pipe structure, and the measuring roll rotates by inserting a wire etc. by inserting the inner surface inspection device, and the insertion length of the inner surface inspection device is measured at the number of rotations. be able to. Furthermore, the image data of the rust removal portion can be input to a personal computer and the dimensions can be measured by image analysis.
[0021]
The steel pipe structure inner surface inspection device is suspended by a wire and can be held inside the member by a position holding unit for holding inside the member. The position holding unit can be opened and closed by operating the solenoid valve built in the device and driving the air cylinder, and the device can be held inside the member by opening this position holding unit and pressing it against the inner surface of the structure. . Therefore, even if the inner surface inspection device moves inside the member for inspection, the entire device continues to be held inside the member. By raising and lowering the wire that suspends the device, the inside of the member can be freely moved in the longitudinal direction. Furthermore, the apparatus can move smoothly on the inner surface of the steel pipe by arranging a bearing or the like at the tip of the position holding unit in contact with the member.
[0022]
The steel pipe structure inner surface investigation device may be used alone or may be combined with a steel pipe structure inner surface rust treatment device and / or a steel pipe structure inner surface rust treatment device described later.
[0023]
(2) Steel pipe structure inner surface rust removal process
The structural requirements of the steel pipe structure inner surface rust removal treatment device used in this process are as follows.
a) A rust removing unit that removes rust in the rust removing portion on the inner surface of the steel pipe member.
b) A position holding unit for fixing the derusting unit at a desired position in the steel pipe member. The position holding unit is composed of at least two pairs of freely openable and closable three arms, and the position holding unit includes at least a rotating unit for moving the direction of the derusting unit in the direction of the inner peripheral surface of the steel pipe. Being.
c) A lateral monitoring camera for monitoring and confirming the rust prevention treatment work in the rust removing portion on the inner surface of the steel pipe member.
d) A forward monitoring camera that is provided at the forward end position in the steel pipe member and for detecting rust on the inner surface of the steel pipe member or for confirming the rust removal work.
e) A controllable moving unit that freely moves the derusting unit within the steel pipe member.
f) A casing for storing and integrating the rust removal unit therein.
g) An arm link that is provided in the rust removal unit and presses the rust removal tool or the like against the inner surface of the steel pipe member.
[0024]
In addition to the above, when the discharge electrode is used as a rust removal tool, the following constituent elements may be included.
h) A sealed unit composed of a mug that is pressed against the inner surface of the steel pipe member and can hold the inside thereof in an airtight state, and an arm link for pressing the mug against the inner surface of the steel pipe member.
i) The sealing unit is composed of a pair of balloons that are inflated by injecting air, and the balloons are in pressure contact with the inner surface of the steel pipe when inflated to seal the space in the steel pipe member located between them.
[0025]
In the steel pipe structure inner surface rust removal treatment apparatus of the present invention, first, the inner surface inspection device is inserted from a narrow openable portion of the constituent members of the steel pipe structure. Since the inner surface inspection device is held inside the steel pipe member after insertion, the inner surface inspection device can freely move within the member, and the rust removal portion is detected by a camera incorporated in the inner surface inspection device. Next, in the same way as the inner surface inspection device, insert the rust removal processing device from the openable part to the rust removal portion detected by the inner surface inspection device, hold it inside the member, and use the camera built in the inner surface inspection device Check the rust removal part. The inner surface rust removal processing equipment rusts by pressing the rust removal unit against the confirmed rust removal part. A rust prevention unit is built into the inner surface rust removal treatment device and can be rotated around the shaft by a built-in motor.
[0026]
A measuring roll is installed in the openable part of the steel pipe structure, and the measuring roll rotates by inserting wires by inserting the inner surface rust removal treatment device, and the inner surface rust removal treatment device is inserted at the number of rotations. The length can be measured. Furthermore, the image data of the rust removal part after rust removal can be input into a personal computer, and the rust removal dimension can be measured by image analysis.
[0027]
The inner surface derusting apparatus is suspended by a wire and is held inside the member by a position holding unit. By operating a solenoid valve built in the inner surface derusting apparatus, driving the air cylinder to open the arm and pressing it against the inner surface of the structure, the inner surface derusting apparatus can be held inside the member. Therefore, even if the inner surface rust removing apparatus moves inside the member, the entire apparatus continues to be held inside the member. By raising and lowering the wire that suspends the inner surface rust treatment apparatus, the entire apparatus can freely move in the longitudinal direction inside the member. Furthermore, the inner surface derusting apparatus can smoothly move the inner surface of the steel pipe by arranging a bearing or the like at the front end of the position holding unit in contact with the member.
[0028]
When the discharge electrode is used as a rust removal tool, the inner surface rust treatment device further includes a hermetically sealed unit for forming an airtight space near the portion to be rusted on the inner surface of the steel pipe, and a substantial vacuum in the airtight space. A discharge unit provided with a high voltage supply power source for applying a discharge voltage to the discharge electrode and the discharge electrode provided in the airtight space so as to remove rust in the airtight space by a vacuum arc. Become.
[0029]
The steel pipe structure inner surface rust removal treatment device may be used alone or combined with the above-described steel pipe structure inner surface rust treatment device and / or a steel pipe structure inner surface rust prevention treatment device described later.
[0030]
(3) Steel pipe structure inner surface rust prevention treatment process
The structural requirements of the steel pipe structure inner surface antirust treatment device used in this process are as follows.
a) Rust prevention unit for attaching a rust prevention material to the rust removal completion part.
b) A monitoring camera for monitoring and confirming the rust prevention treatment work at the rust removal completion part on the inner surface of the steel pipe member.
c) A front monitoring camera that is provided at the forward end position in the steel pipe member and finds rust on the inner surface of the steel pipe member or confirms the rust removal work.
d) A controllable moving unit that freely moves the rust prevention unit within the steel pipe member.
e) A casing for storing and integrating the anticorrosion unit therein.
f) A position holding unit for fixing the rust prevention unit at a desired position in the steel pipe member. The position holding unit is composed of at least two pairs of freely openable and closable three arms, and the position holding unit includes at least a rotating unit for moving the direction of the rust prevention unit in the direction of the inner peripheral surface of the steel pipe. Being.
[0031]
A rust prevention unit is incorporated inside the steel pipe structure inner surface rust prevention treatment device, and can be rotated around an axis by a built-in motor. The rust prevention unit has a built-in paint unit consisting of brushes, paint tanks, paint supply nozzles, etc. for painting when performing rust prevention by painting, and is a welding unit for replenishing the lack of wall thickness in steel pipe structures. May also be incorporated. The other structure is the same as that of the above-mentioned steel pipe structure internal surface rust removal processing apparatus.
[0032]
The steel pipe structure inner surface rust prevention treatment device may be used alone or may be combined with the above-described steel pipe structure inner surface rust treatment device and / or the steel pipe structure inner surface rust treatment device.
[0033]
The steel pipe structure inner surface repair device of the present invention includes an inner surface inspection device for inspecting the inner surface of the steel pipe structure, an inner surface derusting treatment device for removing a rust portion based on the result of the investigation, and a derusting portion after rust removal. Inner surface rust preventive treatment device assembled integrally with inner surface rust preventive treatment device for rust preventing inner surface, and processing material supply device for supplying rust preventive treatment material to said inner surface rust preventive treatment device It can also consist of In this case, a position holding unit is provided at the tip of the inner surface inspection device, and the rear end of the inner surface inspection device, both ends of the inner surface rust removal / rust prevention treatment device, and the inner surface rust prevention / rust prevention treatment device are used for rust prevention treatment. A position holding unit is connected to both ends of the processing material supply apparatus for supplying the material via bent portions.
[0034]
Each bending portion bends corresponding to the tower bending point so that when the devices positioned before and after the tower pass through the tower bending point, the bending point can be easily passed through the tower bending point and work can be performed at the tower bending point. When each work in each device is performed, at least two bent portions adjacent to the device performing the work are fixed so that the position of the device in the steel tower does not move.
[0035]
DETAILED DESCRIPTION OF THE INVENTION
With reference to drawings, the Example of the steel pipe structure internal surface repair apparatus with which this invention is applied is described.
[0036]
FIG. 1 is a side view of a steel pipe tower for communication 100, which is a typical example of a steel pipe structure, and schematically shows a mounting state of its constituent members. The steel tower 100 has a relatively complicated structure among steel pipe structures. The main pillar material A, which is a constituent member of the steel tower 100, is tilted at a predetermined angle with respect to the ground. The steel pipe diameter size of the main pillar material A is different for each fixed section, and the top portion is thin and tends to become thicker as it approaches the ground. In addition, the main columnar material A is mutually connected by the flange joint D. A bending point F at which the inclination of the steel pipe member changes discontinuously is provided in the upper part and the vicinity of the base part of the steel tower 100.
[0037]
FIG. 2 is an enlarged side view of the end B of the steel tower top main pillar material A. FIG. An end B of the main pillar material A is covered with a top plate C. After removing the top plate C, the steel pipe structure inner surface repair device 200 (FIG. 3) of the present invention is inserted from the main column member end B. The inner surface repair device 200 is suspended by a wire 102 so as to be lifted and lowered by placing a measuring roll 103 on the lifting unit 101. The inner surface repair device 200 basically includes an inner surface inspection device 210, an inner surface rust treatment device 220, and an inner surface rust prevention device 230. As will be described later, the constituent elements of each apparatus are elements unique to the apparatus, but there are elements common to the apparatuses. Each device alone may be provided separately.
[0038]
With reference to FIGS. 3-6, the 1st Example of the steel pipe structure inner surface repair apparatus 200 is described.
[0039]
FIG. 3 is a side view of the inner surface inspection device 210 used in the present invention. The inner surface inspection device 210 includes a holding unit 211 and a camera unit 212. The inner surface inspection device 210 is suspended by a wire 103 extending from an elevating unit 101 (FIG. 2) disposed outside the main pillar material. Further, the holding unit 211 on the upper side of the inner surface inspection device 210 is provided with the position holding units 214 in three stages, and at least three arms 214a are opened and closed at intervals of 120 degrees in the position holding units 214 in each stage. Can be attached freely. An electromagnetic valve 215 and an air cylinder 216 are connected to the position holding unit 214 at each stage. The inner surface inspection device 210 energizes the electromagnetic valve 215 of the holding unit 211, operates the air cylinder 216, opens the arm 214a of the position holding unit 214, presses the inner surface of the main pillar material A, and the inner surface inspection device 210. The inner surface inspection device 210 is stably held at an arbitrary position inside the main columnar material A by stopping the descent of the wire 102 attached to the upper portion of the main pillar material A.
[0040]
As shown in FIG. 3, in the inner surface inspection process, the inner surface G of the main columnar material A is observed with the camera 217 or 218 while the inner surface inspection device 210 is held inside the main columnar material A. Since the inside of the main pillar material A is dark, lighting fixtures 219 and 250 for irradiating the inner surface G of the main pillar material are arranged. Usually, the image is observed with a direct-view type camera 217, and if there is an image that is difficult to observe, the image is observed with a side-view type camera 218. The camera 218 can approach the investigation site. By rotating the mirror 251 with the rotary motor 252, observation in a 360 degree direction is possible.
[0041]
When the inner surface inspection device 210 is moved, the downward movement is performed in the state shown in FIG. 3 so that the opening angle of the arm 214a of the position holding unit 214 is slightly smaller than the inner diameter of the member, and the wire 102 is lowered. When the inner surface inspection device 210 passes through the flange joint D, when the arm 214a of the lower position holding unit 214 comes into contact with the stepped portion H (FIG. 4) of the flange joint D, the lower position holding unit 214 The arm 214a is closed, the wire 102 is loosened, and the stepped portion H is passed. Next, when the arm 214a of the central position holding unit 214 contacts the stepped portion H, the arm 214a of the central position holding unit 214 is closed, the wire 102 is loosened, and the stepped portion H is passed. Finally, when the arm 214a of the upper position holding unit 214 comes into contact with the stepped portion H, the upper position holding unit 214 is closed, the wire 102 is loosened, and the stepped portion H is passed. The upward movement is possible by pulling up the wire 102 in the state of FIG. The ascending movement of the stepped portion H (FIG. 4) of the flange joint D may be performed in the same manner as the descending movement described above.
[0042]
When the inner surface inspection apparatus 210 detects a rust removal portion J that requires rust removal and rust prevention due to corrosion or the like, the position can be measured. The insertion length of the inner surface inspection device 210 into the main pillar A is such that the measuring roll 103 (FIG. 2) in which the wire 102 that suspends the inner surface inspection device 210 is incorporated in the lifting unit 101 is rotated. The wire insertion length can be measured by the number of rotations. Furthermore, the image data of the rust removal part J can be input to a personal computer (not shown), and its dimensions can be measured by image analysis.
[0043]
FIG. 5 is a side view of the inner surface rust treatment apparatus 220 and the inner surface rust treatment apparatus 230 used in the present invention. In the present embodiment, the inner surface rust treatment device 220 and the inner surface rust treatment device 230 are integrally incorporated, but they may be separate. Hereinafter, for convenience of explanation, a device in which the inner surface rust treatment device 220 and the inner surface rust treatment device 230 are integrated is simply referred to as an inner surface rust removal / rust treatment device 300. In FIG. 5, the same reference numerals as those in FIG. 3 represent the same elements.
[0044]
The inner surface rust removal / rust prevention treatment apparatus 300 includes a holding part 211, a rotation part 327, and a rust removal / rust prevention treatment part 328. In the case of illustration, the rust prevention part of the rust removal / rust prevention part 328 performs the rust prevention process by coating the rust removal surface. While the insertion length of the inner surface rust removal / rust prevention treatment device 300 is measured by the measuring roll 103 (FIG. 2), the rust removal portion J is inserted. The movement method of the rust removal / rust prevention treatment apparatus 300 is the same as the movement method of the inner surface inspection apparatus 210 described above.
[0045]
FIG. 5 shows a state in which the arm swing motors 317 and 318 are driven and the mug 315 is brought into contact with the rust removal portion J by the arms 319 and 320. With these two arms 319 and 320, the mug 315 can be applied to the derusting portion J stably and at a right angle. Note that the circumferential movement of the mug 315 can be easily performed by the shaft rotation motor 321 of the rotating unit 327.
[0046]
FIG. 6 is an explanatory diagram showing a state where the space surrounded by the rust removal portion J and the mug 315 is evacuated by the vacuum pump 316 through the conduits 361 and 362. In FIG. 6, the portion surrounded by the alternate long and short dash line A <b> 1 indicates a part of the inside of the main pillar material A. After the inside of the mug 315 reaches a predetermined pressure, a vacuum arc discharge is caused between the electrode 329 of the high voltage power supply 331 and the rust removal part J of the main column A, and the rust removal part. J's rust can be removed. After completion of rust removal, the state of the rust removal completion portion J is confirmed with the camera 324 (FIG. 5). Instead of the mug 315, two balloons (not shown) that can be inflated and deflated can be used to seal the space between the balloons.
[0047]
FIG. 5 shows a state in which paint is sprayed from the nozzle 323 incorporated in the solenoid valve coating unit 322 to the rust removal completion portion J. A series of operations of the rust removal / rust prevention treatment apparatus 300 is observed with a camera 324, a mirror 326, and lighting fixtures 325 and 330 incorporated in the rust removal / rust prevention treatment unit 328. The angle of the mirror 326 can be changed so that the state of rust removal and / or painting can be clearly observed.
[0048]
As a preferable form of the inner surface rust removal treatment apparatus 220, a sealed unit (315) for forming an airtight space in the vicinity of a portion to be rusted on the inner surface of the steel pipe, and a vacuum unit ( 316, 361, 362), a discharge electrode (329) provided in the hermetic space so as to remove rust in the hermetic space by a vacuum arc, and a high voltage supply power source (331) for applying a discharge voltage to the discharge electrode The discharge unit (329, 331) provided with The steel pipe structure inner surface repair device 200 is suspended by a wire 102 extending from an elevating unit 101 (FIG. 2) disposed on the top of the main pillar member A through a connecting portion 211.
[0049]
FIG. 7 is a side view of a second embodiment of the steel pipe structure inner surface repair device 200 according to the present invention. 7, the same reference numerals as those in FIGS. 3 and 5 represent the same components. In the second embodiment, the inner surface inspection device 210, the inner surface rust removal processing device 220, and the inner surface rust prevention processing device 230 are integrally incorporated, but they may be provided individually.
[0050]
As shown in FIGS. 7 and 8, the inner surface inspection device 210 includes a connecting portion 201, a holding portion 211, a rotating portion 327, a camera portion 212, and a bent portion 202.
[0051]
Further, as shown in FIGS. 7 and 8, in the second embodiment, as in the first embodiment, the holding portion 211 on the upper side of the inner surface inspection device 210 of the steel pipe structure inner surface repair device 200 holds the position. The units 214 are provided in three stages, and at least three arms 214a are attached to the position holding units 214 in each stage so as to be freely opened and closed with an interval of 120 degrees. A bent portion 202 is provided in the middle of the position holding unit 214, and a bent portion 202 is also provided between the lowermost position holding unit 214 and the rotating portion 327. Hereinafter, description of substantially the same structure will be omitted.
[0052]
The camera 324a is supported so that the position of the camera 324a can be adjusted so as to approach the investigation site on the inner surface G of the main pillar material A. That is, as shown in FIG. 9, the rotating unit 327 can move the camera 324a 360 degrees along the circumferential direction of the inner surface G of the main pillar material A, and is driven by an arm swing motor (not shown). The arms 324b and 324c can move the camera 324a in the axial direction and the radial direction of the inner surface G within a predetermined range.
[0053]
When the inner surface repair device 200 of the second embodiment is moved up and down, it is substantially the same as the first embodiment described above.
[0054]
The case where the inner surface repair apparatus 200 of the second embodiment moves the bending point F (FIGS. 1, 10 and 13) of the steel tower 100 will be described. The inner surface repair device 200 is lowered from the state shown in FIG. Even if the lowermost portion of the inner surface repair device 200 passes through the bending point F, the diameter of the main columnar material A is large when the angle of the bending point F is large (FIG. 10B) or even when the angle of the bending point F is small. When it is small (FIG. 10 (A)), the inner surface repair device 200 is in strong contact with the inner surface B of the main pillar material A and cannot pass.
[0055]
In such a case, as shown in FIG. 8, the connecting pins 202a and 202b that have fixed the lower refracting portion 202 are made to move freely by driving the air cylinders 202c and 202d. By freely moving the connecting pin 202a and the connecting pin 202b, the rotating unit 327, the inner surface rust removal / rust prevention device 300, and the camera unit 212 (FIG. 7) can be freely angled in two orthogonal directions. The rotating unit 327, the inner surface rust removing / rust preventing apparatus 300, and the camera unit 212 can pass through the bending point F. If the descent continues further, the case where the holding portion 211 cannot stop and pass through the steel pipe occurs in the same situation as described above. In this case, the fixed connecting pins 202a and 202b of the upper refracting portion 202 are moved freely by driving the air cylinders 202c and 202d. By freely moving the connecting pins 202a and 202b, the refracting portion 202 and the refracting portion 202 can be freely angled in two orthogonal directions. It can pass through the bending point F of the columnar material A.
[0056]
The inner surface rust removal / rust prevention treatment apparatus 400 in the second embodiment is substantially the same as the inner face rust removal / rust prevention treatment apparatus 300 of the first embodiment described above. Only the differences will be described briefly.
[0057]
9 shows a state in which the arm swing motors 417 and 418 are driven and the grinding part 422 is brought into contact with the rust removal part J by the arms 419 and 420 in the inner surface rust removal / rust prevention treatment apparatus 400 shown in FIG. The grinding part 422 can be stably applied to the rust removal part J by the two arms 419 and 420. The circumferential movement of the grinding part 422 can be easily performed by the shaft rotation motor of the rotation part 327. The rust removal portion J can be ground by removing the rust by rotating the grinding motor 423. In the series of these rust removal treatments, the rust removal state can be clearly observed by the camera 324a incorporated in the inner surface rust removal / rust prevention treatment apparatus 400. Since the inside of the main pillar material A is dark, it is preferable to provide a lighting fixture 324d that irradiates the inner surface G of the main pillar material.
[0058]
In the inner surface rust prevention treatment, the insertion length of the inner surface repair device 200 is measured by the measuring roll 103 (FIG. 2) and inserted to the rust removal completion portion J from which rust has been removed. The moving method of the inner surface repair device 200 is the same as described above.
[0059]
FIG. 9 shows a configuration example in which the paint injected into the paint part 403 is applied to the rust removal completion part J by the brush-type inner surface application unit 425 or the spray-type inner surface application unit 426. As shown in FIG. 11, the brush-type inner surface application unit 425 can be painted by the brush 425 a being pushed out by the air cylinder 425 b and reaching the rust removal completion portion J to operate the arms 419 and 420. On the other hand, as shown in FIG. 12, the spray-type inner surface application unit 426 has a paint nozzle 426a and a pressurized air nozzle 426b arranged at right angles, and sprays paint onto the rust removal completion portion J using the principle of a Venturi tube.
[0060]
Further, as shown in FIG. 14, a conventional syringe is used instead of the brush-type inner surface application unit 425 or the spray-type inner surface application unit 426 in order to fill a gap generated in the stepped portion H of the flange joint D of the steel pipe tower 100. 427 can also be used. The deteriorated caulking material is removed by the grinding portion 422, and the caulking material 427 a is injected from the syringe 427 into the gap of the stepped portion H. The deposited caulking material can be removed by air blow and reinjected. A pneumatic nozzle 426b used in the coating process may be used for air blowing.
[0061]
FIG. 15 shows a configuration example of a welding unit 428 for building up the rust removal completion portion J by welding when corrosion has progressed to the steel pipe member itself of the steel pipe tower 100. The welding unit 428 is brought close to the rust removal portion J by an arm (not shown) in the same manner as the above-described inner surface rust removal / rust prevention treatment apparatuses 300 and 400. As shown in more detail in FIG. 16, the welding nozzle 428a of the welding unit 428 is attached to an XY table 428b, and the welding unit 428 is fixed to the rust removal completion portion J by an electromagnetic magnet 428c. The welding nozzle 428a is fed with the welding wire set tube 428d and the contact tip 428e, and the welding wire 428f is fed out, and the welding is performed by arc welding the welding wire 428f to the rust removal completion portion J. When performing arc welding, the shutter opening / closing air cylinder 428g is operated to open a shutter (not shown), and a shielding gas such as carbon dioxide supplied through a gas hose 428h is contacted with a contact tip 428d of the welding nozzle 428a. Inject around. By operating the XY table 428b, the welding nozzle 428a moves in the area of the rust removal completion part J, and performs the required overlay. The welding operation is monitored by an operation monitoring camera 428i. Welding spatter, noro, and the like generated by this welding are removed by the grinding unit 422 described above, and a rust prevention treatment is performed thereon using the brush-type inner surface application unit 425 or the spray-type inner surface application unit 426 described above.
[0062]
Although not shown, the welding wire 428f may be directly supplied to the welding unit 428 from the outside of the steel pipe structure. For example, when the feeding distance of the welding wire becomes long like a base of a steel tower, a bent portion, etc. When the supply becomes difficult due to the above, it is preferable that the case storing the welding wire 428f is followed by the steel pipe structure inner surface repair device and supplied from the case.
[0063]
FIG. 17 is a side view of a third embodiment of the steel pipe structure inner surface repair device 200 according to the present invention. In FIG. 17, the same reference numerals as those in the above-described figure represent the same components. In the third embodiment, an inner surface inspection device 210, an inner surface rust prevention / rust prevention treatment device 300, 400, and a treatment material supply device 500 for supplying a rust prevention treatment material to the inner surface rust prevention / rust prevention treatment device are integrally incorporated. ing. The inner surface inspection device 210 includes means for investigating the side direction or the radiation direction, for example, a camera. Rotating portions 327 are provided at both ends of the inner surface inspection device 210 and the inner surface rust removal / rust prevention processing devices 300 and 400 so as to investigate and process the inner surface of the steel pipe over the entire circumference. A position holding unit 214 is provided at the front end of the inner surface inspection apparatus 210, and a position holding unit 214 is provided through the bent portion 202 at the rear end of the processing material supply apparatus 500. Between the inner surface inspection device 210 and the inner surface rust removal / rust prevention treatment devices 300 and 400, and between the inner surface rust removal / rust prevention treatment devices 300 and 400 and the processing material supply device 500, the position holding unit 214 is a bent portion 202. Are provided respectively. Although not shown, each bent portion 202 includes means for fixing and holding the angle and direction of the bend. The configuration of the fixing and holding means is not particularly limited. For example, it can be configured by arranging a pair of air cylinders on lines orthogonal to each other.
[0064]
In the steel pipe structure inner surface repair device 200, basically, when moving in the steel pipe, each bent portion 202 is kept free, and the inner surface inspection device 210 and the inner surface rust removal / rust prevention processing devices 300 and 400 are required. When performing the above operations, the bent portions 202 are fixed. The position holding unit 214 is basically held in a state where the arm 214a is always opened. As shown in FIG. 18, the inner surface inspection device 210 can be located at the center of the steel pipe even while the steel pipe and the tower bending point are moving, and the entire inner periphery of the steel pipe is investigated under the same condition by rotating it with the rotating part 327. be able to. Further, when the inner surface rust removal / rust prevention treatment devices 300 and 400 are operated, each bending portion 202 is fixed, so that the working position can be securely held, and the inner surface of the steel pipe is rotated by the rotating portion 327. Work can be performed on the entire circumference.
[0065]
【The invention's effect】
According to the present invention, the following effects can be obtained.
(1) In the process of investigating the inner surface of a steel pipe structure, the device is suspended from a possible opening part of the steel pipe structure with a wire or the like, and the length of the wire or the like is adjusted by the openable part. While moving while being held inside the steel pipe member, you can observe the corrosion state of the inner surface of the steel pipe member with a camera and detect the rust removal part, so you can investigate without removing or replacing the member, Work time can be reduced economically and safely.
(2) In the steel pipe structure inner surface investigation, rust removal and painting process, the support mechanism is designed to be small so that it can be easily inserted even in a narrow place. After insertion, the three-stage support provided on the upper side of the device Since the arm of the mechanism can be freely opened and closed, it is possible to easily move and hold the positions having different member dimensions.
(3) Two cameras are arranged in the inner surface inspection device, and the corrosion state detection accuracy can be increased by using different cameras for observation according to the member dimensions of the steel pipe structure, the size of the rust removal part, etc. .
(4) The measuring roll arranged in the openable part of the steel pipe structure is connected to the inner surface inspection device with a wire or the like, and the measuring roll is rotated by the insertion of the inner surface inspection device. The insertion length of the inner surface inspection device can be measured. Furthermore, the image data of the derusting part can be input to a personal computer and its dimensions can be measured by image analysis.
(5) The rust removal treatment apparatus can accurately move the mug to the rust removal portion and contact the mug cup so that no gap is generated there.
(6) When the inside of the mug is depressurized with a vacuum pump, the mug is reliably adsorbed on the curved inner surface of the steel pipe. Vacuum arc discharge can be performed between the electrode in the mug and the corroded portion, and rust can be removed in a limited space.
(7) The inner surface rust removal / rust prevention treatment apparatus can perform the rust removal / rust prevention treatment almost simultaneously.
(8) The spray-type inner surface application unit can apply the rust preventive paint uniformly to the entire rust removal completion part without omission.
(9) A variety of structures with different angles of bending points of the main pillar material can be operated at one time by one apparatus.
(10) If the bent portion can smoothly pass the tower bending point, the position of the apparatus during the operation can be maintained and the operation can be performed reliably.
[Brief description of the drawings]
FIG. 1 is a side view of a steel pipe tower for communication, which is a typical example of a steel pipe structure, and schematically shows a mounting state of its constituent members.
FIG. 2 is an enlarged side view of an end portion of a steel tower top main pillar material.
FIG. 3 is a longitudinal sectional view of the first embodiment of the steel pipe structure inner surface repair device according to the present invention, showing a state where the steel pipe structure is inserted into the main column member.
FIG. 4 is an enlarged longitudinal sectional view of a flange joint.
FIG. 5 is a longitudinal sectional view of an inner surface rust removal / rust prevention treatment apparatus used in the present invention, showing a state in which it is inserted into a main pillar material.
FIG. 6 is an explanatory diagram showing a state in which a space surrounded by a rust removal portion and a mug is evacuated by a vacuum pump.
FIG. 7 is a longitudinal sectional view of a second embodiment of the steel pipe structure inner surface repair device according to the present invention, showing a state where it is inserted into a main column member.
FIG. 8 is a partially enlarged view of FIG. 7 and shows a position holding unit of the inner surface inspection apparatus mainly used in the rust prevention treatment apparatus of the present invention.
FIG. 9 is a partially enlarged view of FIG. 7 and shows an inner surface rust removal / rust prevention treatment apparatus mainly used in the rust prevention treatment apparatus of the present invention.
FIG. 10 is a partially enlarged longitudinal sectional view of a steel tower bending point.
FIG. 11 is a plan view of a brush-type inner surface application unit.
FIG. 12 is a plan view of a spray-type inner surface application unit.
FIG. 13 is an enlarged vertical cross-sectional view of a steel tower bending point, showing a state in which the rust prevention apparatus of the present invention passes through the steel tower bending point.
FIG. 14 is an enlarged longitudinal sectional view of a flange joint, showing a coating process of a caulking material.
FIG. 15 is a diagram illustrating a configuration example of a welding unit.
FIG. 16 is an enlarged view of a welding unit.
FIG. 17 is a longitudinal sectional view of a third embodiment of the steel pipe structure inner surface repair device according to the present invention, showing a state where the steel pipe structure is inserted into the main column member.
FIG. 18 is an enlarged longitudinal sectional view of a steel tower bending point, showing a state in which the rust prevention apparatus of the third embodiment of the present invention passes through the steel tower bending point.
[Explanation of symbols]
100: Steel tower for communication 101: Lifting unit
102: Wire 103: Measuring roll
200: Steel pipe structure inner surface repair device 202: Bending part
211: Holding unit 212: Camera unit
214: Position holding unit 214a: Arm
215: Solenoid valve 216: Air cylinder
217, 218: Camera
300, 400: Internal rust removal / rust prevention treatment equipment
315: Mug 319, 320: Arm
323: Nozzle 324, 324a: Camera
327: Rotating part 328: Rust removal / rust prevention treatment part
329: Electrode 419, 420: Arm
426a, 426b: Nozzle 422: Grinding part
425: Brush type inner surface application unit
426: Spray type inner surface application unit
427: Syringe 427a: Syringe
428: Welding unit 428a: Welding nozzle
428b: XY table 428c: Electromagnetic magnet
428e: welding wire set tube
428d: Contact tip 428f: Welding wire
428g: Air cylinder for opening and closing the shutter
428h: Gas hose 428i: Camera
428i: Grinder
A: Main pillar material B: End
C: Top plate D: Flange joint
F: Bending point G: Main pillar material inner surface
H: Stepped portion J: Rust removal portion

Claims (8)

A steel pipe structure inner surface repair device for repairing the inner surface of the steel pipe structure by hanging up and down in the steel pipe structure from the openable portion at the end of the steel pipe structure,
An inner surface inspection apparatus for investigating the inner surface of the steel pipe structure, the research and the inner surface rust removal apparatus for removing rust rusting portion based on the result, the inner surface antirust treatment for anticorrosive treatment of rust removal inner surface after rust removal An apparatus, and a position holding unit for holding the steel pipe structure inner surface repair device in the inner surface,
Assemble the inner surface rust treatment device and the inner surface rust treatment device integrally to constitute an inner surface rust treatment device,
The inner surface inspection device and the inner surface rust removal / rust prevention device are configured to extend long in the direction in which the steel pipe structure inner surface repair device is raised and lowered, and are arranged to extend in the direction. ,
It said position retaining unit, said inner surface inspection device and the inner surface divided in the longitudinal direction of the end of the rust-rust processing apparatus that is connected via a bent portion, the steel pipe structure the inner surface repair device. The steel pipe structure internal surface repair apparatus of Claim 1 which incorporated the brush type coating unit in the said internal surface rust removal / rust prevention processing apparatus. The steel pipe structure inner surface repair device according to claim 1, wherein a spray-type coating unit is incorporated in the inner surface rust removal / rust prevention processing device. The steel pipe structure inner surface repair device according to claim 1, wherein a welding unit is incorporated in the inner surface rust removal / rust prevention processing device. The structure inner surface repair device according to claim 2 or 3 , wherein a syringe for coking injection is provided in the inner surface rust removal / rust prevention treatment device. The inner surface rust removing apparatus includes a sealed unit for forming an airtight space near a portion to be rusted on the inner surface of the steel pipe, a vacuum unit for making the inside of the airtight space in a substantially vacuum state, and the airtight space in the airtight space. 6. A discharge unit provided with a discharge electrode provided in the hermetic space so as to remove certain rust by a vacuum arc and a high voltage supply power source for applying a discharge voltage to the discharge electrode. The steel pipe structure inner surface repair apparatus as described in any one of these . Provided with a treatment material supply device for supplying a rust prevention treatment material to the inner surface rust prevention / rust prevention treatment device,
At the tip of the inner surface inspection device, the position holding unit is provided,
The position holding unit is coupled to the rear end of the inner surface inspection device, both ends of the inner surface derusting / rust prevention processing device, and both ends of the processing material supply device via the bent portions, respectively. The steel pipe structure inner surface repair apparatus as described in any one of -6. Each of the bent portions bends corresponding to the tower bending point when the devices located before and after the tower passes through the tower bending point, and are adjacent to at least the device performing the work when each operation in each device is performed. The steel pipe structure inner surface repair device according to any one of claims 1 to 7 , wherein the two bent portions are fixed .

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