JP6842277B2 - In-tube surface treatment device - Google Patents

Description

The present invention relates to an in-pipe base treatment device for performing a base treatment on the inner surface of a pipe structure having a metal pipe.

For example, as a steel pipe tower (tube structure) having a cylindrical steel pipe (metal pipe body), a plurality of main columns (for example, 4 units) formed long by connecting a plurality of the steel pipes are connected. The ones that have been prepared are known. The inner and outer surfaces of the main pillar are rust-proofed, for example, by hot-dip galvanizing, but the inner surface of the main pillar (that is, the inner surface of the steel pipe) may be difficult to visually inspect from the outside. Therefore, it may be desired to further enhance the rust preventive effect by applying a coating in advance. In that case, perform surface treatment such as removing foreign matter such as dust adhering to the inner surface of the main pillar, roughening the inner surface, and removing the rust if it is rusted. After that, the inner surface is painted.

The base treatment of the inner surface of the main pillar is performed by, for example, inserting an in-pipe rust removing device as shown in Patent Document 1 into the main pillar and using this in-pipe rust removing device as a pipe base treatment device. It is possible.

That is, the in-pipe rust removing device using the in-pipe rust removing device includes a guide device configured to be movable along the center line of the main pillar and a plurality of links provided on the tip side of the guide device. It is provided with an arm to be held and a rotary grindstone portion (rust removing portion) provided at the tip of the arm, and the rotary grindstone portion adheres to the inner surface including an inwardly projecting portion of the main pillar. It is possible to perform surface treatment such as removal of foreign matter, roughening of the inner surface, and removal of rust if rust is generated.

Moreover, in the above-mentioned in-tube surface treatment device, since the arm is configured to be bendable based on a plurality of links, the rotary grindstone portion provided at the tip of the arm is moved to various positions in the main pillar. There is an advantage that the base treatment such as removal of dust on the inner surface of the main pillar, roughening of the inner surface, and removal of rust can be performed extremely accurately.

However, in the above-mentioned in-tube groundwork treatment apparatus, when a wide range of parts on the inner surface of the main pillar are grounded as a whole, the rotary grindstone portion must be sequentially moved by utilizing the bending function of the arm. Therefore, there is a problem that it is difficult to efficiently perform the surface treatment in a short time.

Japanese Unexamined Patent Publication No. 2010-089232

The present invention has been made in view of the above circumstances, and is an in-tube surface treatment apparatus capable of efficiently performing a surface treatment on a wide range of a surface (that is, an inner surface) appearing inside a tube body in a short time. The challenge is to provide.

In order to solve the above problems, the invention according to claim 1 is an in-tube surface treatment device used for surface treatment of the inner surface of the tube in a tube structure having a metal tube having a circular cross section. A guide device having a leg that is inserted into the tube and guides the axis line to a position corresponding to the center line of the tube, and a side of the guide device that is first inserted into the tube. A work device arranged on the tip side is provided, and the work device is connected to a rotation drive unit attached to the tip end portion of the guide device and a rotation output shaft of the rotation drive unit, and is connected to the guide device. The base end of the rotating body is provided with a swing support pin so that the rotating body driven to rotate around the axis and the tip of the rotating body can move in the direction in which the tip is separated from the inner peripheral surface of the cylinder of the tube. It has an arm oscillatingly connected to the rotating body via the arm, and a base treatment tool attached to the tip of the arm and provided so as to project from the tip toward the tip. The swing support pin is characterized in that it is arranged at a predetermined distance in the radial direction from the rotation center line of the rotating body.

The invention according to claim 2 is characterized in that, in the invention according to claim 1, a plurality of the swing support pins are provided around the rotation center line at predetermined intervals.

The invention according to claim 3 is the invention according to claim 1 or 2, wherein the axis of the swing support pin is tangential to a circle centered on the rotation center line of the rotating body. It is characterized by.

The invention according to claim 4 is the invention according to any one of claims 1 to 3, wherein the arm is provided with a lift generating portion, and in the lifting force generating portion, the arm is a rotating body. In the state of being on the tip side, the rotation center line is directed in the direction opposite to the direction of the air flow that is relatively generated based on the rotation of the rotating body around the rotation center line. It is characterized in that it is composed of an object having an angle of attack that inclines at least in a direction away from the object.

The invention according to claim 5 is the base of the arm in the invention according to any one of claims 1 to 4, in a state where the arm extends toward the tip end side of the guide device along the rotation center line. It is characterized in that a temporary holding means for holding the end portion on the rotating body with a predetermined force is provided on at least one of the rotating body and the base end portion of the arm.

The invention according to claim 6 is the invention according to any one of claims 1 to 5, wherein the arm includes a first arm located on the proximal end side and a second arm located on the distal end side. The first arm is provided with a base end portion thereof that is swingably connected to the rotating body via the swing support pin, and a tip portion thereof is a base of the second arm. The base treatment tool is rotatably connected to the end portion via a rotation pin, and the tip portion of the second arm is provided with the surface treatment tool so as to project from the tip portion toward the tip side. The rotating pin is characterized in that its axis is in a direction along a plane orthogonal to the axis of the swing support pin, and is oriented in a direction substantially orthogonal to the extending direction of the first arm. ..

The invention according to claim 7 is the invention according to any one of claims 1 to 6, wherein the rotary output shaft in the rotary drive unit is rotationally driven by an air motor, and is in the vicinity of the air motor. An electromagnetic valve is arranged at a position corresponding to at least one of the air flow path on the air supply port side of the air motor and the air flow path on the exhaust port side of the air motor. It is characterized in that the air flow path can be closed and opened.

The invention according to claim 8 is arranged so as to be located in the direction toward the base end side of the guide device with respect to the base treatment tool in the invention according to any one of claims 1 to 7. It is provided with a first lighting means oriented in a direction of at least illuminating the inner surface portion of the tube body corresponding to a tool, and a first camera directed in a direction of at least photographing the inner surface portion. The tube is arranged so as to be located in the direction toward the base end side of the guide device with respect to the first lighting means and the first camera, and is located in the direction toward the base end side of the guide device from the arranged position. It is characterized by including a second lighting means oriented at least in a direction of illuminating the inner surface of the body and a second camera directed in a direction of at least photographing the inner surface.

The invention according to claim 9 includes, in the invention according to claim 8, a first photographing apparatus including the first lighting means and the first camera, and the second lighting means and the second camera. The second photographing device is provided at each position which is divided into a plurality of equal parts in the circumferential direction about the line corresponding to the axis of the guide device, and captures at least one image of the plurality of first and second cameras. It is characterized by being equipped with a shooting control device that displays on a monitor.

The invention according to claim 10 is the invention according to claim 9, wherein the photographing control device sequentially switches in the circumferential direction with respect to at least one of the plurality of first photographing devices and the plurality of second photographing devices. Therefore, it is characterized by having an automatic display switching circuit for sequentially displaying at least one of the images of the plurality of first cameras and the images of the plurality of second cameras on a monitor.

The invention according to claim 11 is the invention according to claim 9 or 10, wherein the photographing control device manually selects a predetermined photographing device from the plurality of first photographing devices and the plurality of second photographing devices. It is characterized in that it is provided with a manual display switching circuit that displays the image of the camera in the selected photographing device on the monitor.

According to the invention of claim 1, the base end portion swings to the rotating body via the swing support pin so that the tip portion can move in the direction in which the tip portion moves away from the inner peripheral surface of the cylinder of the tube body. It has an arm that is freely connected and a base treatment tool that is attached to the tip of this arm and is provided so as to project from the tip to the tip side, and the swing support pin is the rotation center line of the rotating body. Since the rotating body is arranged at a predetermined interval in the radial direction with respect to the above, for example, the rotating body is rotationally driven in a predetermined direction after inserting the in-tube surface treatment device into the tube extending vertically. As a result, the arm also rotates so as to rotate around the rotation center line of the rotating body. Then, centrifugal force is generated in the arm and the base treatment tool, and the centrifugal force causes the arm to swing in the direction toward the inner peripheral surface of the cylinder of the pipe body with the swing support pin as a fulcrum, and the base treatment tool moves to the cylinder. It will come into contact with the inner peripheral surface. For this reason, it is necessary to remove foreign substances such as dust adhering to the inner surface of the inner surface of the cylinder as the inner peripheral surface of the cylinder, roughen the inner surface, and if rust is generated, remove the rust. It can be carried out. By moving the guide device along the center line of the pipe body in this state, the entire inner peripheral surface of the cylinder of the pipe body in the moved range can be uniformly and efficiently grounded.

Further, when there is a convex portion such as a rib protruding inward from the inner peripheral surface of the cylinder of the pipe body, the angle around the swing support pin of the arm is set to a predetermined angle based on the rotation speed of the rotating body. By adjusting to and moving the guide device along the center line of the tube, the surface treatment of the upper surface of the convex portion can also be performed. That is, after adjusting the angle of the arm so that the base treatment tool hits the inner edge portion on the upper surface of the convex portion, the guide device is gradually moved to the convex portion side, whereby the base treatment tool is moved to the convex portion. Since it automatically moves from the inner edge portion on the upper surface to the outer edge portion, the base treatment can be efficiently performed on the entire upper surface of the convex portion.

As described above, the surface (that is, the inner surface) that appears inside the tube as the inner peripheral surface of the cylinder of the tube, and if it has a convex portion, appears inside the tube as the upper surface of the convex portion. The surface (that is, the inner surface) can be efficiently grounded in a short time. That is, it is possible to efficiently perform the base treatment on a wide range of the inner surface of the tubular body in a short time.

According to the second aspect of the present invention, since a plurality of swing support pins are provided around the rotation center line of the rotating body at predetermined intervals, the arm provided on each swing support pin and the arm provided therein. With the provided base treatment tool, the base treatment can be performed more efficiently in a shorter time.

According to the invention of claim 3, since the axis of the swing support pin is oriented in the tangential direction of the circle centered on the rotation center line of the rotating body, the direction of the centrifugal force generated in the arm or the like is the swing support. The direction is orthogonal to the pin. Therefore, the centrifugal force can be efficiently applied from the base treatment tool to the inner surface of the pipe body as the inner peripheral surface of the cylinder of the pipe body, so that the efficiency of the base treatment can be improved.

According to the invention of claim 4, a lift generating portion is provided on the arm, and the lift generating portion is used to rotate the rotating body around the center line of rotation in a state where the arm is on the tip side of the rotating body. Since it has an angle of attack that inclines in the direction opposite to the direction of this flow, at least in the direction away from the center of rotation, with respect to the direction of the air flow that is relatively generated based on the above, it receives from the air. The fluid force also causes the arm to swing in the direction toward the inner peripheral surface of the cylinder of the tube with the swing support pin as a fulcrum. That is, since the base treatment tool can be pressed against the inner peripheral surface of the cylinder of the pipe body based on the total force of the centrifugal force and the fluid force, the base treatment can be performed more efficiently.

According to the fifth aspect of the present invention, in a state where the arm extends to the tip end side of the guide device along the rotation center line, the base end portion of the arm is temporarily held by the rotating body with a predetermined force. Since the means are provided at at least one of the rotating body and the base end of the arm, the arm is aligned with the rotation center line even when the in-tube surface treatment device is inserted into the tube extending diagonally or laterally. It becomes possible to maintain the direction. When the force based on the centrifugal force acting on the arm or the like (the force to which the fluid force is applied in the case of having a lift generating part) exceeds the holding force by the temporary holding means by rotating the rotating body in this state. Then, the arm swings in the direction of the inner peripheral surface of the cylinder of the pipe body, and the surface treatment tool is in a state of being pressed against the inner peripheral surface of the cylinder of the pipe body. Therefore, it is possible to improve the operability when performing the base treatment on the portion in the tube that extends diagonally or the like.

According to the sixth aspect of the present invention, the arm is composed of a first arm and a second arm, and the base end portion of the first arm can swing freely on a rotating body via a swing support pin. The tip of the first arm and the base end of the second arm are rotatably connected via a rotation pin, and the axis of the rotation pin is orthogonal to the axis of the swing support pin. Since the direction is along the plane to be formed and is substantially orthogonal to the extending direction of the first arm, the surface treatment tool provided at the tip of the second arm is a cylinder of the pipe body. When it comes into contact with the inner peripheral surface, it becomes possible to be in a state of being tilted at a predetermined angle rearward in the rotational direction with respect to the first arm. Therefore, the first arm and the second arm have a centrifugal force (lift generating portion) acting on the first arm, the second arm, and the like as long as the inner diameter of the tubular body is within a predetermined range. In the case of a force that applies a lift force), the swing support pin is used as a fulcrum in a direction that is approximately orthogonal to the center line of rotation (in the case of a lift generating portion, a direction that is orthogonal to or more than the direction). It will also be possible to move.

That is, when it is inserted into a tube extending in the vertical direction, it is in a state close to the direction orthogonal to the rotation center line due to the centrifugal force acting on the first arm, the second arm, the surface treatment tool, and the like. The first arm, the second arm and the surface treatment tool can be moved up to. When the arm has a lift generating portion, the first arm, the second arm, and the surface treatment tool can be moved to a state beyond the direction orthogonal to the rotation center line. Therefore, even if a convex portion such as a rib is present on the inner peripheral surface of the cylinder of the tubular body, there is an advantage that the inner peripheral surface of the cylinder of the tubular body close to the lower surface of the convex portion can also be grounded. Further, the lower surface of the convex portion can also be grounded on the outer edge side (the side closer to the inner peripheral surface of the cylinder of the pipe body).

Then, for example, when the pipe body expands in a stepwise manner downward, the lower surface (that is, the inner surface) of the stepped portion or the inner circumference of the pipe body close to the lower surface thereof. The surface (that is, the inner surface) can also be grounded. Therefore, even in the case of a pipe body configured such that the pipe diameter expands in a plurality of steps downward, the pipe body surface treatment device of the present invention can be inserted from the upper end portion of the pipe body. The inner surface of the tube can be reliably grounded. Moreover, even for a pipe body whose inner diameter changes significantly from the minimum diameter almost determined by the length of the first arm to the maximum diameter almost determined by the total length of the first arm and the second arm. There is an advantage that the base treatment of the inner surface can be performed by one type of in-tube base treatment device.

According to the invention of claim 7, the solenoid valve is provided at a position corresponding to at least one of the air flow path on the air supply port side and the air flow path on the exhaust port side of the air motor. By blocking at least one air flow path with a solenoid valve, the air motor does not operate even if the pressure of the driving air acts on the air supply port side of the air motor. Moreover, in this case, for example, even if the air flow path from the air pressure source that supplies a predetermined high-pressure air to the air supply port is long, a pressure loss occurs when no air is flowing through the air flow path. Therefore, the predetermined air pressure (that is, the original pressure) set by the air pressure source acts to the vicinity of the air motor.

That is, when the solenoid valve is provided only at a position corresponding to the air flow path on the air supply port side, the original pressure of the air pressure source acts on the position of the solenoid valve near the air motor. If the solenoid valve is provided only at a position corresponding to the air flow path on the exhaust port side, the above air pressure is applied from the air supply port to the position of the solenoid valve on the exhaust port side through the air motor and the exhaust port. The source pressure will act. Further, when the solenoid valve is provided at a position corresponding to the air flow path on the air supply port side and the exhaust port side, the original pressure of the air pressure source acts on the position of either of the solenoid valves. can do.

For this reason, when the solenoid valve provided only at the position corresponding to the air flow path on the air supply port side is opened from the closed position, the air having a high pressure up to the position immediately before the solenoid valve flows into the air motor at once. Since a predetermined torque is generated in the air motor, the rotary output shaft starts to rotate with a predetermined angular acceleration. That is, the rotation output shaft is in a predetermined rotation state in a predetermined time.

In addition, if the solenoid valve provided only at the position corresponding to the air flow path on the exhaust port side is opened from the closed position, the high-pressure air already filled in the air motor will flow out from the exhaust port at once. A predetermined torque is generated in the air motor at the same time as the solenoid valve is opened, and the rotary output shaft is in a predetermined rotational state in a predetermined time.

Furthermore, when solenoid valves are provided on both the air supply port side and the exhaust port side, the solenoid valves are provided only in the air flow path on the air supply port side by adjusting the opening timing of each solenoid valve. It is possible to exhibit the performance of both the case where the air flow path is provided only in the air flow path on the exhaust port side and the case where the air flow path is provided. Further, when driving the rotary output shaft, it is controlled only by the solenoid valve on the exhaust port side (that is, meter-out control), and when the rotary output shaft is stopped, it is controlled only by the solenoid valve on the air supply port side (that is, meter-out control). That is, by configuring so as to perform meter-in control), the rotary output shaft can be started up in a predetermined rotational state at a predetermined time, and the shock when the rotary output shaft is stopped can be alleviated.

Further, the arm rotates together with the rotation output shaft, and the centrifugal force acting on the arm is proportional to the square of the angular velocity of the rotation output shaft. Then, the angular velocity becomes a predetermined rotation state in a predetermined time regardless of whether the solenoid valve on the air supply port side or the exhaust port side is opened. Therefore, after the solenoid valve is opened, the arm is given a predetermined time. Centrifugal force will act. Therefore, after driving the air motor, the time until the base treatment tool reaches the inner peripheral surface of the cylinder of the pipe body can be set within a predetermined time, so that the efficiency of the base treatment can be improved.

The maximum angular velocity of the rotary output shaft can be set to a predetermined value by adjusting the flow rate of air supplied to the air motor from, for example, the flow rate adjusting valve provided in the above-mentioned air pressure source with the flow rate adjusting valve. it can.

Further, since a predetermined centrifugal force can be applied to the arm at a predetermined time after the start of rotation, even when a temporary holding means for stably holding the arm along the rotation center line is provided. There is an advantage that the arm can be smoothly swung toward the inner peripheral surface side of the cylinder of the tubular body against the holding force of the temporary holding means.

According to the eighth aspect of the present invention, the groundwork treatment work can be performed while confirming the situation in which the inner surface of the tube body is treated by the groundwork treatment tool with the first lighting means and the first camera. Therefore, there is an advantage that the inner surface of the tube can be subjected to the necessary and sufficient surface treatment.

Further, since the inner surface of the tube body located in the proximal direction of the tube body surface treatment device can be photographed by the second lighting means and the second camera, for example, even if there is a protrusion in the tube body, the protrusion thereof. It is possible to pull out the in-tube surface treatment device from the tube while avoiding getting caught in the tube.

Therefore, it is possible to improve the efficiency of the base treatment work.

According to the invention of claim 9, since a plurality of the first imaging device and the second imaging device are provided in a state of being equally divided in the circumferential direction, the entire inner surface of the tube can be photographed in the circumferential direction. It will be possible. Then, since a shooting control device for displaying at least one image of the image of the first camera and the image of the second camera on the monitor is provided, an arbitrary part in the circumferential direction on the inner surface of the tube is confirmed on the monitor. It is possible to perform the base treatment without excess or deficiency.

According to the invention of claim 10, when the automatic display switching circuit of the imaging control device is configured to sequentially switch the plurality of first imaging devices in the circumferential direction, the base material for the inner surface of the tube is formed. There is an advantage that the processing status by the processing tool can be confirmed on the monitor so as to cover the entire circumferential direction on the inner surface thereof.

Further, when the automatic display switching circuit of the imaging control device is configured to sequentially switch the plurality of second imaging devices in the circumferential direction, the inner surface of the tube body located in the proximal direction of the tube surface treatment device. Can be confirmed on the monitor so as to cover the entire circumferential direction.

Further, when the automatic display switching circuit of the imaging control device is configured to sequentially switch the plurality of first imaging devices and the second imaging device in the circumferential direction, the inner surface and guidance of the tube body on the surface processing tool side. The inner surface of the tube on the base end direction side of the device can be confirmed on the monitor so as to cover the entire circumferential direction. In this case, the image on the surface processing tool side can be displayed on the lower half side of the monitor screen, and the image on the base end direction side of the guide device can be displayed on the upper half side of the monitor screen. Further, each image on the surface processing tool side and the image on the base end direction side of the guide device may be displayed on a dedicated monitor.

According to the invention of claim 11, a predetermined camera can be manually selected from a plurality of first and second cameras by the manual display switching circuit of the imaging control device, so that the inner surface of the tube can be selected. The image of a specific part of the image can be continuously displayed on the monitor. For this reason, there is an advantage that it is possible to confirm on the monitor that the base treatment has been surely performed for the portion where the base treatment is particularly important, such as a portion where rust is generated. It is also possible to manually select two or more predetermined cameras and display those images on the monitor.

It is a front view shown as one Embodiment of this invention. It is a main part fracture front view which shows the guide device in the in-pipe base treatment apparatus. It is a figure which shows the working apparatus in the groundwork processing apparatus in the tube, and is the main part breaking front view which shows the state attached to the tip part of the guide apparatus. It is the main part breaking front view of the work apparatus in the same pipe body base treatment apparatus. It is a figure which shows the working apparatus in the groundwork processing apparatus in the tube, (a) is the cross-sectional view along the VA-VA line of FIG. 4, and (b) is the state after the arm is opened by centrifugal force or the like. It is a VB arrow view of FIG. 4 shown. It is a figure which shows the rotating body of the work apparatus in the same pipe body base treatment apparatus, (a) is the bottom view, (b) is the B arrow view of (a), (c) is (a). It is sectional drawing which follows the CC line of. It is a figure which shows the 1st arm of the work apparatus in the same pipe body base treatment apparatus, (a) is a front view, (b) is a front view of the state after swinging by a predetermined angle around a swing support pin. (C) is the C arrow view of (a), (d) is the D arrow view of (a), and (e) is the E arrow view enlarged view of (a). f) is an enlarged cross-sectional view taken along the line FF of (a). It is a figure which shows the connection part of the 1st arm and the 2nd arm of the work apparatus in the in-pipe base treatment apparatus, (a) is a front view, (b) is BB of (a). It is a cross-sectional view along a line, and (c) is a view taken along the line C. It is a figure which shows the 2nd arm of the work apparatus in the in-pipe ground processing apparatus, (a) is a front view, (b) is a sectional view along line BB of (a), ( c) is a view taken along the line C of (b), (d) is a front view of a wire brush shown as an example of a surface treatment tool different from the super steel bar, and (e) is an arrow E of (d). It is a visual view. It is a front view of the main part which shows the operation of the base treatment apparatus in the tube. It is a front view of a main part showing the operation of the base treatment device in the pipe, and it is possible to perform base treatment on the steel pipe, etc. just below the diameter expansion of the steel pipe whose diameter is gradually expanded downward. It is a front view of the main part which shows. It is the front explanatory view of the main part which shows the other example about the part near the air motor in the same pipe base treatment apparatus, (a) shows the example which provided the solenoid valve at the position corresponding to the air supply hose in the vicinity of an air motor. It is an explanatory view of the front of a main part, (b) is an explanatory view of the front of the main part showing an example in which a solenoid valve is provided at a position corresponding to an exhaust hose in the vicinity of the air motor, and (c) is an air supply hose in the vicinity of the air motor. It is a front view of the main part which shows the example which provided the solenoid valve at the position corresponding to each of an exhaust hose. It is a figure which shows the other example about the arm of the work apparatus in the same pipe body base treatment apparatus, (a) is the front view which shows the main part, arm and the base treatment tool of a rotating body, (b) is (a ) Is an enlarged cross-sectional view taken along the line BB, and (c) is an enlarged cross-sectional view taken along the line CC of (a). It is a main part fracture front view which shows another example about the part provided with a camera etc. in the groundwork processing apparatus in the tube. It is a figure which shows another example about the part provided with the camera and the like, and is the cross-sectional view which follows the XV-XV line of FIG. It is a front view which shows the steel pipe steel tower which has the main column (steel pipe) for performing the base treatment of the inner surface.

An in-tube surface treatment apparatus as an embodiment of the present invention will be described in detail with reference to the drawings.

As shown in FIGS. 1 to 14, the in-pipe base treatment apparatus 1 shown in this embodiment has a main pillar a formed by connecting steel pipes P as a metal pipe body having a circular cross section in the axial direction. It is used for the base treatment of the surface (inner surface) appearing inside the support column a (steel pipe P) in the steel pipe tower (pipe structure) (see FIG. 14) having the above. The inner and outer surfaces of the main pillar a are hot-dip galvanized.

As shown in FIG. 1, the in-pipe surface treatment device 1 is inserted into the main pillar a from the upper opening end of the main pillar a after opening the lid h (see FIG. 14) provided at the upper opening end of the main pillar a. A guide device 2 having a leg portion 22 that guides the axis 2a to a position corresponding to the center line of the main pillar a (that is, the center line of the steel pipe P), and the guide device 2 in the main pillar a first. It is provided with a work device 3 arranged on the tip side, which is the side to be inserted.

As shown in FIG. 3, the working device 3 is connected to the rotation drive unit 4 attached to the tip of the guide device 2 and the rotation output shaft 4a of the rotation drive unit 4, and is centered on the axis 2a of the guide device 2. The base end is a swing support pin so that the rotating body 5 that is rotationally driven in such a manner and the tip end can move in the direction in which they are separated from each other with respect to the inner peripheral surface of the cylinder of the main pillar a (steel pipe P). It has an arm 6 oscillatingly connected to the rotating body 5 via a 53, and a base treatment tool 7 attached to the tip of the arm 6 and provided so as to project toward the tip side thereof. ..

It will be described in more detail below. That is, as shown in FIG. 14, the steel pipe tower shown in this example is composed of a plurality of (for example, four) main columns a connected by a belly member e or the like. Each main pillar a is configured to be a continuous one by connecting a plurality of steel pipes P by a flange joint portion f. As the steel pipe P, one having a smaller diameter is adopted as it is located upward. The flange joint portion f usually has an opening for communicating the adjacent steel pipes P with each other, but the flange joint portions f1 and f2 at the portion where the inclination angle of the main pillar a changes partition the inside of the adjacent steel pipes P. Some have an iron plate g (see FIG. 1).

That is, as shown in FIG. 1, the flange joint portions f1 and f2 may have a structure in which the inside thereof is partitioned by the iron plate g and closed. When such an iron plate g is present, the state of the inner surface of the main pillar a below the flange joint portions f1 and f2 cannot be confirmed. Therefore, for example, as shown in FIG. 10, the flange joint portion f1 is formed by forming a through hole g1 having a predetermined diameter in the central portion of the iron plate g using a fusing means (not shown) such as a plasma cutting machine. It is possible to confirm the condition of the inner surface of the main pillar a below f2.

By forming the through hole g1, the iron plate g remains as a rib g protruding inward, and the edge portion of the through hole g1 becomes the inner end g1 of the rib g. That is, on the inner peripheral surface of the cylinder of the steel pipe P, a convex portion as a portion where the flange joint portions f1 and f2 protrude inward, a convex portion due to the rib g, and the like may exist. That is, in this example, the inner peripheral surface of the cylinder, the inner surface of the flange joints f1 and f2, and the inner surface of the rib g correspond to the inner surface of the steel pipe P or the main column a.

Further, as shown in FIGS. 1 and 2, the guide device 2 has a cylindrical outer shell portion 21 extending linearly and long, and a connecting portion 21a of a wire 11 at a base end portion (upper end portion) thereof. Is provided. The axis of the outer shell portion 21 corresponds to the axis line 2a described above. Further, the guide device 2 has a leg portion 22 that movably supports the guide device 2 itself along the center line of the main pillar a while holding the axis 2a at a position corresponding to the center line of the main pillar a. Are provided at least one set (in this example, three sets are provided at predetermined intervals in the direction of the axis 2a).

The legs 22 in each set are arranged at positions that substantially divide the outer peripheral surface of the outer shell 21 in the circumferential direction into three equal parts (they may be divided into three or more equal parts). As shown in FIG. 2, the legs 22 arranged at each position can be housed in the outer shell 21 as a whole from the base end (upper end) 22a to the tip. With the base end portion 22a as a fulcrum, the tip end portion is oscillated in a direction in which the main pillar a is separated from the inner peripheral surface of the cylinder. In this case, as shown in FIG. 2, the outer shell portion 21 is provided with a swing drive mechanism 23 that swings the leg portion 22 with the base end portion 22a as a fulcrum.

The rocking drive mechanism 23 includes a motor 23a composed of a stepping motor or the like, a screw mechanism 23b that converts a rotary motion output from the motor 23a into a linear motion, and a rack gear 23c that is driven in a linear direction by the screw mechanism 23b. The rack gear 23c is provided with three pinion gears 23d that mesh with each other. Then, the base end portion 22a of each leg portion 22 is fixed to each pinion gear 23d, and each leg portion 22 is oscillated and driven at an angle corresponding to the rotation angle of each pinion gear 23d controlled by the rotation angle of the motor 23a. It has become so.

That is, each leg portion 22 is housed in a cylindrical outer shell portion 21 as a whole according to the rotation angle of each pinion gear 23d, or the tip portion thereof is a cylinder of a main pillar a having various diameters. It is designed to come into contact with the inner peripheral surface. Further, the tip of each leg 22 abuts on the inner peripheral surface of the cylinder of the main pillar a (steel pipe P) and smoothly moves along the inner peripheral surface of the cylinder in the direction along the center line of the main pillar a. A rolling wheel 22b is provided to enable this.

As shown in FIGS. 3 and 4, a joint portion 8 for holding the pipe 81 coaxially with the axis 2a is provided at the tip portion of the guide device 2. The joint portion 8 is provided with a camera 82 and a lighting means 83 at a portion corresponding to the periphery of the pipe 81.

The direction of the optical axis 82a of the camera 82 is set and the viewing angle is set so that the state of the base treatment of the inner surface of the main pillar a can be confirmed by the base treatment tool 7. .. In this case, the cameras 82 are arranged around the axis 2a at 180 ° intervals, and can recognize the inner surface of the main pillar a over 360 °. The lighting means 83 is composed of LEDs, is arranged between the cameras 82, and is arranged so as to be able to illuminate the inner surface of the main pillar a at least within the viewing angle range of the cameras 82. It is lit.

The rotary drive unit 4 has a casing 40 attached to the tip of the guide device 2 via a pipe 81 and a joint portion 8, and an air motor 401 is provided in the casing 40. The air motor 401 has a rotary output shaft 4a whose output shaft is arranged coaxially with the axis 2a. Further, the air supply hose (air flow path) 401a and the exhaust hose (air flow path) 401b connected to the air motor 401 are guided from the casing 40 through the pipe 81 into the guide device 2, and then the main pillars. It is derived from the upper opening end of a. The exhaust hose 401b may not be provided, and the exhaust of the air motor 401 may be configured to be discharged as it is into the main pillar a.

The casing 40 has a cylindrical outer shell portion 40a having substantially the same diameter as the outer shell portion 21 of the guide device 2, and the base end cover 40b and the tip end cover are provided at the base end portion and the tip end portion of the outer shell portion 40a, respectively. 40c is fixed. The base end cover 40b is coaxially connected to the pipe 81 and communicates with the inside of the pipe 81 and the inside of the casing 40. The tip cover 40c has a through hole portion formed coaxially with the axis 2a, and the bearing 402 is held by the through hole portion. The bearing 402 rotatably holds the shaft portion 51 of the rotating body 5, which will be described later, so that the rotation center line 5a of the rotating body 5 is held coaxially with the axis 2a of the guide device 2.

As shown in FIGS. 5 and 6, the swing support pin 53 is arranged at a predetermined distance in the radial direction from the rotation center line 5a of the rotating body 5, and is centered on the rotation center line 5a. Four (plurality) are provided at regular intervals in the circumferential direction of the circle. The number of swing support pins 53 may be one, but it is preferable to provide two or more swing support pins 53 so that the position of the center of gravity of the swing support pins 53 corresponds to the rotation center line 5a. Further, if the position of the center of gravity of the sum of the plurality of rocking support pins 53 is the position corresponding to the rotation center line 5a, each rocking support pin 53 has a different interval in the radial direction from the rotation center line 5a. It may be provided at the position where it was, may be provided at a position at different intervals in the circumferential direction about the rotation center line 5a, or may be provided at a position shifted in the direction along the rotation center line 5a.

Further, each swing support pin 53 has its axis 53a directed in the tangential direction of a circle centered on the rotation center line 5a.

As shown in FIG. 7 and the like, the arm 6 is provided with a lift generating portion 61a. As shown in FIGS. 4 and 7A, the lift generating portion 61a is based on the rotation of the rotating body 5 around the rotation center line 5a in a state where the arm 6 is located on the tip end side of the rotating body 5. An angle of attack α that is inclined at least away from the rotation center line 5a in a direction opposite to the flow direction q (see FIG. 7 (f)) with respect to the relative air flow direction q. It is configured to have a flat bottom surface 61b.

Further, the upper surface 61c of the lift generating portion 61a is formed by a plane parallel to the lower surface 61b, and the cross section of the lift generating portion 61a is formed in a trapezoidal shape with the upper surface 61c and the bottom surface 61b as the upper bottom and the lower bottom, respectively. The angle formed by the left and right side surfaces 61d and the bottom surface 61b is formed at an acute angle. That is, when the arm 6 rotates around the rotation center line 5a, the air resistance generated in the lift generating portion 61a is small. The direction q of the air flow is a circle centered on the rotation center line 5a, is a tangential direction at the center point of the circle passing through the center point in the width direction of the bottom surface 61b, and is a direction toward the bottom surface 61b. There is. The angle of attack α is the angle formed by the flow direction q and the bottom surface 61b.

Further, as shown in FIGS. 3 to 7, the arm 6 is configured to include a first arm 61 located on the proximal end side and a second arm 62 located on the distal end side. The base end of the first arm 61 is swingably connected to the rotating body 5 via a swing support pin 53. Further, as shown in FIG. 8, the tip of the first arm 61 is rotatably connected to the base end of the second arm 62 via a rotation pin 60. As shown in FIG. 9, the above-mentioned surface processing tool 7 is provided at the tip of the second arm 62 so as to project from the tip toward the tip. As shown in FIG. 7 and the like, the lift generating portion 61a described above is formed on the first arm 61.

As shown in FIGS. 5B and 8, the rotation pin 60 has an axis 60a in a direction along a plane orthogonal to the axis 53a of the swing support pin 53, and the first arm 61 extends. It is oriented in a direction that is approximately orthogonal to the direction in which it is used. The rotating pin 60 includes a cylindrical portion 60b and a flange portion 60c formed at one end of the cylindrical portion 60b, and is fixed to the tip end portion of the first arm 61 by a screw 60d and a nut 60e.

As shown in FIG. 9, the second arm 62 is formed with a through hole 62a rotatably fitted to the cylindrical portion 60b of the rotating pin 60 at its base end. Further, a hole 62b for holding the shank 7a of the surface treatment tool 7 in the inserted state is formed at the tip of the second arm 62. The hole 62b is formed so as to extend from the tip surface of the second arm 62 in the axial direction of the second arm 62. Further, the second arm 62 is formed with a screw hole at a position in the middle of the hole 62b in the axial direction, and a set screw 62c for fixing the shank 7a is provided in the screw hole.

Further, as shown in FIG. 8A, the first arm 61 and the second arm 62 extend linearly to the tip of the first arm 61 in the direction of rotation of the rotating body 5. A first stopper 61s that enables the F to rotate up to 10 ° is provided, and the rotating body 5 has a state in which the first arm 61 and the second arm 62 extend linearly. A second stopper 61t that enables rotation up to 120 ° in the direction opposite to the rotation direction F is provided.

On the other hand, as shown in FIG. 6, the rotating body 5 has a configuration including a shaft portion 51 located on the base end side and a disk portion 52 located on the tip end side. As shown in FIG. 4, the shaft portion 51 is coaxially connected to the rotary output shaft 4a of the rotary drive unit 4 provided as an output shaft of the air motor 401 via a chuck 41. The disk portion 52 is formed coaxially with the shaft portion 51.

Further, as shown in FIG. 6, the disk portion 52 is formed with a circular recess 52b and four groove portions 52c formed in a concave shape from the tip end surface side thereof. The circular recess 52b is formed by a recess having a cylindrical inner peripheral surface coaxial with the rotation center line 5a. Each groove 52c is formed so as to extend in the radial direction from the rotation center line 5a at each position that divides the rotation center line 5a into four equal parts in the circumferential direction. In this case, each groove portion 52c is formed linearly with a constant width from the circular recess 52b to the outer peripheral edge of the disk portion 52. The swing support pin 53 described above is provided so as to penetrate the width direction of each groove 52c. The direction of the axis 53a of each swing support pin 53 is orthogonal to the direction radiating from the rotation center line 5a.

The swing support pin 53 is formed of a screw-shaped object having a male screw portion 53b at the tip portion and a parallel pin portion 53c at the intermediate portion, and the male screw portion 53b is formed on one side surface of the groove portion 52c. When screwed into the screw hole and fixed, the parallel pin portion 53c is in a state of crossing the entire width of the groove portion 52c. Further, on the disk portion 52, a screw 52d for preventing the rocking support pin 53 from coming off is fixed in the vicinity of the head of the rocking support pin 53.

Then, as shown in FIG. 5A, the base end portion of the arm 6 and the base end portion of the first arm 61 are formed to have a width that can be inserted into the groove portion 52c, and is formed in FIG. 7 (a). ), A through hole 61e that rotatably fits into the parallel pin portion 53c of the swing support pin 53 is formed. Further, a bias formed so as to protrude from the groove portion 52c into the circular recess 52b in a state where the first arm 61 extends along the rotation center line 5a at the base end portion of the first arm 61. The protrusion 61f is formed.

The protruding portion 61f has a concave portion formed on the surface on the base end side thereof, and has a suction plate piece 61 g made of a ferromagnetic material such as iron fixed to the concave portion with a screw. The first arm 61 has a base end surface formed in a flat shape by 61 g of a suction plate piece. In this case, the suction plate piece 61f comes into contact with the bottom surface of the circular recess 52b in a state where the first arm 61 extends along the rotation center line 5a.

On the other hand, the disk portion 52 is provided with a magnet 52e as a temporary holding means at a portion of the bottom surface of the circular recess 52b where the suction plate pieces 62d abut. The magnet 52e is embedded in the disk portion 52 so that the planar suction surface of the north pole or the south pole is flush with the bottom surface of the circular recess 52b. In this case, the magnet 52e attracts 61 g of the suction plate piece with a predetermined magnetic force in a state where the arm 6 extends to the tip end side of the guide device 2 along the rotation center line 5a, thereby causing the arm 6 to move. The base end portion is temporarily held by a predetermined force to prevent the arm 6 from freely rotating around the swing support pin 53. The magnetic force is greater than the force received by the portion of the adsorption plate piece 61g in the direction away from the magnet 52e based on the centrifugal force acting on the arm 6 or the like when the rotation speed of the rotating body 5 reaches a predetermined value. It is a small one.

As shown in FIGS. 9A to 9C, the groundwork tool 7 is made of a super steel bar, and has a spheroidal shape formed coaxially with the shank 7a at the tip of the shank 7a. The blade portion 7b of the above is provided. The blade portion 7b was formed in a columnar shape as a whole, a shape in which the tip portion of the columnar shape was rounded into a hemisphere, a blade portion 7b formed in a tapered shape toward the tip, and a spherical shape. It is possible to use things such as things. Further, as shown in FIGS. 9D and 9E, a surface treatment tool 71 made of a wire brush may be used. The surface treatment tool 71 is composed of a brush portion 71b fixed to the tip end portion of the shank 71a. The brush portion 71b is composed of a plurality of metal wire rods bundled in a circular cross section. As the metal of the wire, brass, copper, steel, stainless steel or the like is used. The cross-sectional shape of the brush portion 71b in which the wire rods are bundled may be, for example, an elliptical shape or a polygonal shape other than a circular shape. Further, the base treatment tool 71 using a wire rod made of a relatively soft metal such as brass or copper is suitable for removing deposits such as dust, and a wire rod made of a relatively hard metal such as steel or stainless steel is used. The surface treatment tool 71 is suitable for roughening the inner surface and removing rust.

In the in-pipe surface treatment device 1 configured as described above, the base end portion of the swing support pin 53 is provided so that the tip end portion can move in the direction in which the tip end portion is in contact with the inner peripheral surface of the cylinder of the main pillar a. It has an arm 6 oscillatingly connected to the rotating body 5 via the arm 6 and a base treatment tool 7 attached to the tip of the arm 6 and provided so as to project from the tip to the tip side. Since the swing support pin 53 is arranged at a position at a predetermined interval in the radial direction with respect to the rotation center line 5a of the rotating body 5, the in-pipe groundwork treatment device 1 is contained in the main pillar a extending vertically. By driving the rotating body 5 to rotate in a predetermined rotation direction F after inserting the above, the arm 6 also rotates so as to rotate around the rotation center line 5a of the rotating body 5. Then, a centrifugal force is generated in the arm 6 and the base treatment tool 7, and the centrifugal force causes the arm 6 to swing in the direction toward the inner peripheral surface of the cylinder of the main pillar a with the swing support pin 53 as a fulcrum, and the base. The processing tool 7 comes into contact with the inner peripheral surface of the cylinder of the main pillar a. Therefore, foreign matter such as dust adhering to the inner peripheral surface of the cylinder of the main pillar a is removed, the inner peripheral surface of the cylinder is roughened, and if rust is generated, the base treatment such as removal of the rust is performed. be able to. By moving the guide device 2 along the center line of the main pillar a in this state, the entire inner peripheral surface of the cylinder of the main pillar a in the moved range can be uniformly and efficiently grounded.

Further, as shown in FIG. 10, when the rib g protruding inward of the main pillar a is present, the angle around the swing support pin 53 of the arm 6 is determined based on the rotation speed of the rotating body 5. Adjusting the angle, the guide device 2 is placed on the main pillar a in a state where the blade portion 7b of the surface treatment tool 7 (or the brush portion 71b of the surface treatment tool 71) is positioned near the inner end g1 of the upper surface of the rib g. By moving downward along the center line, the entire upper surface of the rib g can be grounded. That is, after adjusting the angle of the arm 6 so that the blade portion 7b of the base treatment tool 7 (or the brush portion 71b of the base treatment tool 71) hits the vicinity of the inner end g1 of the upper surface of the rib g, the guide device 2 By gradually moving toward the rib g, the blade portion 7b of the base treatment tool 7 (or the brush portion 71b of the base treatment tool 71) automatically moves from the inner edge portion to the outer edge portion on the upper surface of the rib g. Therefore, it is possible to efficiently perform the base treatment of the entire upper surface of the rib g.

As described above, a wide range of portions of the inner surface of the main pillar a as the inner peripheral surface of the cylinder and the inner surface of the rib g as the upper surface can be efficiently grounded in a short time.

Moreover, since four swing support pins 53 are provided around the rotation center line 5a of the rotating body 5 at predetermined intervals, a total of four arms 6 and a base provided on each swing support pin 53. With the processing tool 7, the base treatment can be efficiently performed in a shorter time.

Further, since the axis 53a of the swing support pin 53 faces the tangential direction of the circle centered on the rotation center line 5a of the rotating body 5, the direction of the centrifugal force generated in the arm 6 or the like is orthogonal to the swing support pin 53. It becomes the direction to do. Therefore, since the centrifugal force can be efficiently applied from the base treatment tool 7 to the inner peripheral surface of the cylinder of the main pillar a, the efficiency of the base treatment can be improved from this point as well.

Further, a lift generating portion 61a is provided on the arm 6, and the lift generating portion 61a is opposite to the flow direction q of the air relatively generated based on the rotation of the rotating body 5. Since it has an angle of attack α that inclines in a direction away from the rotation center line 5a in the direction, the arm 6 of the main pillar a with the swing support pin 53 as a fulcrum even by the fluid force received from the air. It swings in the direction toward the inner peripheral surface of the cylinder. That is, since the base treatment tool 7 can be pressed against the inner peripheral surface of the cylinder of the main pillar a based on the total force of the centrifugal force and the fluid force, the base treatment can be performed more efficiently.

On the other hand, in a state where the arm 6 extends to the tip end side of the guide device 2 along the rotation center line 5a, the magnet 52e that holds the base end portion of the arm 6 on the rotating body 5 with a predetermined force is the rotating body. Since it is provided in 5, for example, even when the in-pipe surface treatment device 1 is inserted into the main pillar a extending diagonally or laterally, the arm 6 can be maintained in the direction along the rotation center line 5a. It will be possible. By rotating the rotating body 5 in this state, when the force based on the centrifugal force and the fluid force acting on the arm 6 and the like exceeds the holding force by the magnet 52e, the arm 6 is attached to the inner peripheral surface of the cylinder of the main pillar a. It swings in the direction, and the base treatment tool 7 is in a state of being pressed against the inner peripheral surface of the cylinder of the main pillar a. Therefore, it is possible to improve the operability when performing the base treatment on the portion in the main pillar a extending diagonally or the like.

Further, the arm 6 is composed of a first arm 61 and a second arm 62, and the base end portion of the first arm 61 is swingably connected to the rotating body 5 via a swing support pin 53. The tip end portion of the first arm 61 and the base end portion of the second arm 62 are rotatably connected via the rotation pin 60, and the axis 60a of the rotation pin 60 is the swing support pin 53. Since the direction is along the plane orthogonal to the axis 53a and is substantially orthogonal to the extending direction of the first arm 61, the second arm 62 is subjected to the groundwork treatment provided at the tip thereof. When the tool 7 comes into contact with the inner peripheral surface of the cylinder of the main pillar a, as shown in FIG. 5B, the tool 7 is tilted at a predetermined angle behind the first arm 61 in the rotation direction F. Will be possible. Therefore, if the inner diameter of the main pillar a is within a predetermined range, the first arm 61 and the second arm 62 generate centrifugal force and lift acting on the first arm 61, the second arm 62, and the like. Due to the fluid force generated in the portion 61a, it is possible to move in a direction substantially orthogonal to the rotation center line 5a or in a direction tilting upward with the swing support pin 53 as a fulcrum.

That is, when it is inserted into the main pillar a extending in the vertical direction, the centrifugal force acting on the first arm 61, the second arm 62, the groundwork tool 7, etc. causes the rotation center line 5a. The first arm 61, the second arm 62, and the surface treatment tool 7 can be swung to move in a state close to or more than the orthogonal direction. Therefore, as shown in FIG. 10, the inner surface of the flange joint portion f1 (the convex portion such as the rib g protrudes from the inner peripheral surface of the cylinder of the steel pipe P) close to the lower surface of the rib g as a protrusion protruding into the main column a. If this is the case, there is an advantage that the base treatment of the inner peripheral surface of the cylinder of the steel pipe P adjacent to the lower surface of the convex portion can be performed. Further, the lower surface of the rib g can also be grounded on the outer edge side thereof.

Further, as shown in FIG. 11, for example, when the steel pipe P on the lower side of the flange joint portions f1 and f1 has a larger diameter than the steel pipe P on the upper side of the flange joint portions f1 and f1, the flange joint portion f1 , F1 and the main pillar a as a pipe body composed of the upper and lower steel pipes P are expanded downward in a stepwise manner. In this case, the lower surface (inner surface) f1a of the stepped portion of the pipe body and the inner peripheral surface (inner surface) f1b close to the lower surface f1a are formed by the upper and lower flange joint portions f1 and f1. However, the outer peripheral portion and the inner peripheral surface f1b of the lower surface f1a can also be grounded.

Therefore, even in the case of the main pillar a configured so that the pipe diameter expands in a plurality of steps downward, the main pillar h (see FIG. 14) is opened from the upper opening end of the main pillar a. By inserting the in-pipe groundwork treatment device 1 into the pillar a, the inner surface of the main pillar a can be reliably grounded. Moreover, even for the main pillar a whose inner diameter greatly changes from the minimum diameter substantially determined by the length of the first arm 61 to the maximum diameter substantially determined by the total length of the first arm 61 and the second arm 62. There is an advantage that the base treatment of the inner surface thereof can be performed by one type of in-tube base treatment device 1.

In the above embodiment, the example in which the magnet 52e is provided on the rotating body 5 and the suction plate piece 61 g is provided at the base end portion of the arm 6 is shown, but the magnet is provided at the base end portion of the arm 6 and the suction plate is provided. The piece may be configured to be provided on the rotating body 5. Further, when the base end portion of the rotating body 5 or the arm 6 on the other side to be attracted by the magnet is made of a magnetic material, the suction plate piece may not be provided. In this case, the magnet (temporary holding means) may be provided on at least one of the base end portions of the rotating body 5 and the arm 6.

Further, in the vicinity of the air motor 401, as shown in FIG. 12, a position corresponding to the air supply hose 401a as an air flow path connected to the air supply port 4011 of the air motor 401 and the exhaust port 4012 of the air motor 401 are connected. The solenoid valves 403A and 403B may be arranged at positions corresponding to the exhaust hose 401b as an air flow path, respectively.

That is, FIG. 12A shows an example in which the solenoid valve 403A is provided only at a position corresponding to the air supply hose 401a on the air supply port 4011 side, and FIG. 12B shows an exhaust hose 401b on the exhaust port 4012 side. An example in which the solenoid valves 403B are provided only at the positions corresponding to the above is shown, and FIG. 12 (c) shows an example in which the solenoid valves 403A and 403B are provided at the positions corresponding to the air supply hose 401a and the exhaust hose 401b, respectively. ing.

In the case of these examples, the solenoid valves 403A and 403B are directly attached to the positions of the air supply port 4011 and the exhaust port 4012 in the air motor 401, and the air supply hose 401a is located at the position closest to the air motor 401. And the flow path of the exhaust hose 401b can be opened and closed. However, although these solenoid valves 403A and 403B are slightly separated from the air supply port 4011 and the exhaust port 4012, they are located at the positions of the air supply hose 401a and the exhaust hose 401b in the vicinity of the air supply port 4011 and the exhaust port 4012. It may be configured to provide each. When the exhaust of the air motor 401 is configured to be discharged from the exhaust port 4012 into the main pillar a without providing the exhaust hose 401b, as shown in FIGS. 12 (b) and 12 (c), The solenoid valve 403B will be provided directly at the exhaust port 4012. However, the exhaust gas of the air motor 401 in that case is discharged from the exhaust port 4012 into the main pillar a via the solenoid valve 403B.

When the solenoid valves 403A and 403B hold the flow paths of the air supply hose 401a and the exhaust hose 401b in a closed state at a neutral position where no voltage is applied to the solenoid, and a voltage is applied to the solenoid. It is configured to open each flow path. In the air motor 401, high-pressure air supplied from an air pressure source (not shown) flows into the air motor 401 from the air supply port 4011 and flows out from the exhaust port 4012, so that the rotary output shaft 4a is quasi-direction (in FIG. 5). It rotates in the indicated rotation direction F).

As described above, when the solenoid valves 403A and 403B are provided at at least one of the air supply hose 401a and the exhaust hose 401b in the vicinity of the air motor 401, either the solenoid valves 403A or 403B is closed. As long as, even if high-pressure air acts on the air supply port 4011 side of the air motor 401, the air motor 401 does not operate and the rotary output shaft 4a does not rotate. Moreover, in this case, even if the flow path from the air pressure source to the air supply port 4011 is long, no pressure loss occurs unless air is flowing through the flow path, so that the air pressure source is set. The predetermined air pressure (that is, the original pressure) acts on the vicinity of the air motor 401.

That is, as shown in FIG. 12A, when only the solenoid valve 403A is provided in the vicinity of the air supply port 4011, the original pressure of the air pressure source acts up to the position of the solenoid valve 403A. .. Further, as shown in FIG. 12B, when only the solenoid valve 403B is provided in the vicinity of the exhaust port 4012, the solenoid valve 403B is provided from the air supply port 4011 through the air motor 401 and the exhaust port 4012. The original pressure of the air pressure source acts up to the position. Further, as shown in FIG. 12 (c), when both the solenoid valves 403A and 403B are provided in the vicinity of the air supply port 4011 and the exhaust port 4012, one of the solenoid valves is opened or opened. By closing the valve, the original pressure of the air pressure source can be applied to the position of the solenoid valve 403A or the position of the solenoid valve 403B via the inside of the air motor 401 or the like.

Therefore, as shown in FIG. 12A, when only the solenoid valve 403A is provided on the air supply port 4011 side, when the solenoid valve 403A is switched from closed to open, the air pressure already reaches the position immediately before the solenoid valve 403A. High-pressure air, which has the original pressure of the source (for example, 1.5 to ² kg / cm 2), flows into the air motor 401 at once, and a predetermined torque is generated in the air motor 401. The rotation is started with a predetermined angular acceleration, whereby the suction plate piece 61 g is separated from the magnet 52e, and the rotation output shaft 4a is brought into a predetermined rotation state in a predetermined time. Then, when the base treatment of the inner surface of the steel pipe is carried out, the rotation output shaft 4a rotates with a large angular acceleration by increasing the ^{original pressure of the air pressure source (for example, 3 to 4 kg / cm 2) in order to further increase the rotation speed.} , The base treatment tool 7 comes into contact with the inner peripheral surface of the cylinder of the main pillar a. Therefore, foreign matter such as dust adhering to the inner peripheral surface of the cylinder of the main pillar a is removed, the inner peripheral surface of the cylinder is roughened, and if rust is generated, the base treatment such as removal of the rust is performed. be able to.

Further, as shown in FIG. 12B, when only the solenoid valve 403B is provided on the exhaust port 4012 side, when the solenoid valve 403B is switched from closed to open, the high-pressure air already filled in the air motor 401 Is discharged from the exhaust port 4012 at once, a predetermined torque is generated in the air motor 401, and the rotation output shaft 4a starts rotating with a predetermined angular acceleration, whereby the suction plate piece 61 g is separated from the magnet 52e. At the same time, the rotation output shaft 4a becomes a predetermined rotation state in a predetermined time. Then, when the base treatment of the inner surface of the steel pipe is carried out, the rotation output shaft 4a rotates with a large angular acceleration by increasing the ^{original pressure of the air pressure source (for example, 3 to 4 kg / cm 2) in order to further increase the rotation speed.} , The base treatment tool 7 comes into contact with the inner peripheral surface of the cylinder of the main pillar a. Therefore, foreign matter such as dust adhering to the inner peripheral surface of the cylinder of the main pillar a is removed, the inner peripheral surface of the cylinder is roughened, and if rust is generated, the base treatment such as removal of the rust is performed. be able to.

Further, as shown in FIG. 12C, when the solenoid valves 403A and 403B are provided on the air supply port 4011 side and the exhaust port 4012 side, either one of the solenoid valves 403A and 403B is opened. When the other side is closed and the other side is switched from closed to open, only the solenoid valve 403A is provided on the air supply port 4011 side, and only the solenoid valve 403B is provided on the exhaust port 4012 side. Both of these effects can be achieved. That is, it is possible to adjust the rise time until the rotation output shaft 4a reaches a predetermined high-speed rotation in two stages. Further, when the rotary output shaft 4a is driven, it is controlled only by the solenoid valve 403B on the exhaust port 4012 side (that is, meter-out control), and when the rotary output shaft 4a is stopped, the solenoid valve on the air supply port 4011 side is controlled. By configuring the valve 403A to control (that is, meter-in control) only, the rotary output shaft 4a can be started up in a predetermined rotational state in a predetermined time, and a shock when the rotary output shaft 4a is stopped can be performed. Can also be alleviated.

Further, the arm 6 rotates at the same speed as the rotation output shaft 4a, and the centrifugal force acting on the arm 6 is proportional to the square of the angular velocity of the rotation output shaft 4a. The angular velocities are set on the air supply port 4011 side and the exhaust port 4012 side, respectively, regardless of whether the solenoid valve 403A is provided only on the air supply port 4011 side or only the solenoid valve 403B is provided on the exhaust port 4012 side. Even when the solenoid valves 403A and 403B are provided, the rotation state becomes a predetermined state in a predetermined time. That is, a predetermined centrifugal force acts on the arm 6 at a predetermined time after the rotation of the rotation output shaft 4a starts. Therefore, the time from the start of driving the air motor 401 until the base treatment tool 7 reaches the inner peripheral surface of the cylinder of the steel pipe P can be set within a predetermined time, and the efficiency of the base treatment can be improved.

Further, when only the solenoid valve 403A is provided on the air supply port 4011 side or only the solenoid valve 403B is provided on the exhaust port 4012 side, the solenoid valves 403A, respectively, are provided on the air supply port 4011 side and the exhaust port 4012 side. Even when the 403B is provided, a predetermined centrifugal force can be applied to the arm 6 at a predetermined time after the rotation of the rotation output shaft 4a starts, so that a magnet that holds the arm 6 along the rotation center line 5a. There is also an advantage that the arm 6 can be smoothly swung toward the inner peripheral surface side of the cylinder of the steel pipe P against the suction force of 52e.

The angular velocity of the rotational output shaft 4a after the rotational speed reaches a steady state from the transient state in which the rotational speed rises is determined by adjusting the flow rate of the air flowing out from the air pressure source with a flow rate adjusting valve (not shown). Can be set to the value of.

Further, in the above embodiment, an example in which the arm 6 is composed of the first arm 61 and the second arm 62 is shown, but the arm 6 extends linearly as shown in FIG. It may be composed of one member. The components common to the components shown by the first arm 61 and the second arm 62 are designated by the same reference numerals as those shown in FIG. 10 and the like in FIG. 13, and the description thereof will be omitted. Further, the configurations other than the arm 6 are the same as those shown in the above-described embodiment.

Also in the in-tube surface treatment device 1 including the arm 6 composed of one member configured as described above, the in-tube surface treatment device including the arm 6 having the first arm 61 and the second arm 62 described above. It has the same effect as 1. However, in the case of the arm 6 made of one member, the lower surface of the rib g shown in FIG. 10, the inner peripheral surface portion of the flange joint portion f1 adjacent downward to the lower surface, and the step portion shown in FIG. It becomes difficult to perform surface treatment on the lower surface f1a and the inner peripheral surface f1b of the flange joint portion f1 that is adjacent to the lower surface f1a below.

Further, although the camera 82 and the lighting means 83 are provided in the joint portion 8 at the tip of the guide device 2, these cameras 82 and the lighting means 83 are closer to each other and are subjected to the ground treatment by the ground treatment tool 7. It may be configured to be provided at a portion on the tip end side of the rotation drive unit 4 so that the situation of the above can be confirmed.

Further, with respect to the lighting means 83 and the camera 82, as shown in FIGS. 14 and 15, diagonally downward (inside the main pillar a (steel pipe P) corresponding to the base treatment tool 7) at an upper position of the rotation drive unit 4. Even if the surface portion is provided so as to be capable of photographing at least in the direction of illuminating and photographing) and diagonally upward (at least in the direction of illuminating and photographing the inner surface of the tube body located in the direction toward the proximal end side of the guide device 2). Good. In this case, the lighting means 83 and the camera 82 are provided in each of the lower joint portion 801 and the upper joint portion 802, so that it is possible to take pictures obliquely downward and diagonally upward. The lighting means 83 and the camera 82 provided in the lower joint portion 801 are synonymous with the first lighting means 83a and the first camera 82a, and the lighting means 83 and the camera 82 provided in the upper joint portion 802 are the second illuminations. It is synonymous with the means 83b and the second camera 82b.

The lower joint portion 801 is formed in a disk shape having a predetermined thickness, and is coaxially mounted on the base end cover 40b at the upper end portion of the rotation drive portion 4. A storage hole 8a for the first camera 82a is provided in the vicinity of the outer peripheral portion of the lower joint portion 801 at each position that divides the lower joint portion 801 into four equal parts in the circumferential direction. The storage hole 8a is opened on the lower surface of the lower joint portion 801 facing the proximal end cover 40b side, and the opening allows the first camera 82a to take an obliquely downward image. That is, the first camera 82a provided in each storage hole 8a in the lower joint portion 801 makes it possible to confirm the inner surface of the main pillar a and the state of the base treatment of the inner surface of the main pillar a by the base treatment tool 7. ing.

Further, a first lighting means 83a is provided on the lower surface of the lower joint portion 801 at a position close to each storage hole 8a and closer to the center in the radial direction of the lower joint portion 801. Each first lighting means 83a is composed of three LEDs in this example.

Then, on the outer shell portion 40a of the rotation driving unit 4, the light emitted from the first lighting means 83a is directed to the inner surface side of the main pillar a at a position corresponding to each of the first camera 82a and the first lighting means 83a. A reflecting plate 85 that reflects is provided. Each reflector 85 is formed on the lower surface of the lower joint portion 801 so as to surround the first lighting means 83a and the first camera 82a in a trapezoidal shape from the position side near the center of the lower joint portion 801. .. Each reflector 85 extends from the lower surface of the lower joint portion 801 to the tip cover 40c with a substantially constant width, and is formed so as to gradually become shallower toward the tip cover 40c. The depth of each reflector 85 at the upper surface position of the tip cover 40c is almost zero.

On the other hand, the upper joint portion 802 is formed in the same shape as the lower joint portion 801 and is coaxial on the lower joint portion 801 with the surface corresponding to the lower surface of the lower joint portion 801 facing upward. It is designed to be connected in a state of being stacked in a shape. That is, the upper surface of the upper joint portion 802 is vertically symmetrical so as to correspond to the lower surface of the lower joint portion 801 and the second lighting means 83b and the second camera 82b are the first lighting means 83a and the first camera 82a. It is provided so that it is symmetrical up and down. Further, the outer peripheral surfaces of the lower joint portion 801 and the upper joint portion 802 are covered with a cylindrical outer plate 84. The outer plate 84 functions as a decorative plate, a protective plate, and the like, and also functions as a member that coaxially connects the lower joint portion 801 and the upper joint portion 802.

The upper joint portion 802 is coaxially connected to the guide device 2 by the connecting casing 80. The connecting casing 80 has a cylindrical outer shell portion 80a having substantially the same diameter as the outer shell portion 21 of the guide device 2, and the base end portion of the outer shell portion 80a is connected to the tip cover 20a of the guide device 2. ing. Further, the connecting casing 80 is provided with a tip cover 80b at the tip of the outer shell portion 80a, and the tip cover 80b is coaxially connected to the upper joint portion 802.

On the outer shell portion 80a of the connecting casing 80, the light emitted from the second lighting means 83b is emitted from the inner surface of the main pillar a at positions corresponding to the second lighting means 83b and the second camera 82b in the upper joint portion 802. A reflector 80c that reflects on the side or the like is provided. Each reflector 80c is formed on the upper surface of the upper joint portion 802 so as to surround each of the lighting means 83 and the camera 82 in a trapezoidal shape from the position side near the center of the upper joint portion 802. Each reflector 80c is formed so as to extend from the upper surface of the upper joint portion 802 to the tip cover 20a with a substantially constant width and gradually become shallower toward the tip cover 20a. The depth of the reflector 80c at the lower surface position of the tip cover 20a is almost zero.

Here, the set of the first lighting means 83a and the first camera 82a provided at each position divided into four equal parts in the circumferential direction is used as the first photographing device, and the set of the second lighting means 83b and the second camera 82b is the second. As a photographing device, these first and second photographing devices are controlled by a photographing control unit (not shown). It should be noted that the four sets of the first photographing apparatus make it possible to project the inner surface of the main pillar a without omission in the circumferential direction. The same applies to the second photographing apparatus.

The imaging control device is configured so that at least two types of display switching circuits, an automatic display switching circuit and a manual display switching circuit, can be selected. Further, the automatic display switching circuit is configured to be switchable to either a first automatic display switching circuit or a second automatic display switching circuit.

In the state of switching to the first automatic display switching circuit, the first lighting means 83a and the first camera 82a in the four sets of the first photographing apparatus provided in the lower joint portion 801 are all turned on, and each first The images captured by the camera 82a are sequentially switched and displayed on one monitor. In this case, the images of each camera 82 are sequentially switched in a fixed direction in the circumferential direction of the lower joint portion 801 at predetermined time intervals.

Even in the state of switching to the second automatic display switching circuit, the second lighting means 83b and the second lighting means 83b in the four sets of the second photographing apparatus provided in the upper joint portion 802 are the same as in the case of the first automatic display switching circuit. 2 The camera 82b, the monitor, etc. are controlled. As for the monitor, the same monitor is used for both the first automatic display switching circuit and the second automatic display switching circuit.

Further, the photographing control device may enable switching to a third automatic display switching circuit in which both the first automatic display switching circuit and the second automatic display switching circuit function at the same time. In this case, when there is only one monitor, the screen of the monitor is divided into upper and lower parts, for example, the image of each first camera 82a of the lower joint portion 801 is displayed on the lower side, and the upper joint portion 802 is displayed on the upper side. It is possible to display the image of each second camera 82b. Further, a monitor that displays only the image of each first camera 82a of the lower joint portion 801 and a monitor that displays only the image of each second camera 82b of the upper joint portion 802 may be provided exclusively.

In the state of switching to the manual display switching circuit, among the four sets of the first photographing device and the second photographing device in the lower joint portion 801 and the upper joint portion 802, the lighting means 83 and the camera of the specific one set of the photographing devices. It is possible to select 82 and turn it on, and to display the image of the specific camera 82 on one monitor. That is, the manual display switching circuit enables the operator to select a specific camera 82, for example, to display the image on the monitor. However, two or more sets of photographing devices may be selected and configured to display images from two or more cameras on the monitor. Regarding the monitor in this case, one screen may be divided into a plurality of displays, or a plurality of monitors may be used for display.

When the lighting means 83, the camera 82, the photographing control device, and the like are provided as described above, for example, by switching to the first automatic display switching circuit, the inner surface of the main pillar a is grounded. It can be confirmed on one monitor over the entire circumference of. Moreover, by switching to a specific camera 82 by the manual display switching circuit, there is an advantage that the base treatment can be performed while carefully monitoring a specific portion on the inner surface of the main pillar a.

Further, when pulling up the entire in-tube surface treatment device 1, for example, the upper part in the main pillar a can be confirmed by switching to the second automatic display switching circuit. Therefore, even when the rib g described above protrudes into the main pillar a, the in-pipe surface treatment device 1 can be pulled up from the main pillar a while being prevented from being caught by the rib g.

Furthermore, by switching to the third automatic display switching circuit, the base treatment portion of the inner surface of the main pillar a and the upper portion of the inner surface of the main pillar a can be simultaneously monitored (one or two or more). Since it can be confirmed, there is an advantage that the inner surface of the main pillar a can be safely grounded while moving the pipe base treatment device 1 upward, for example.

Therefore, by providing the lighting means 83, the camera 82, the photographing control device, and the like, it is possible to improve the efficiency of the base treatment in the main pillar a.

The lower joint portion 801 and the upper joint portion 802 may be integrally formed.

1 In-tube groundwork treatment device 2 Guide device 2a Axis line 3 Work device 4 Rotation drive unit 4a Rotation output shaft 5 Rotating body 5a Rotation center line 6 Arm 7, 71 Groundwork tool 22 Leg 52e Magnet (temporary holding means)
53 Swing support pin 53a Axis line 60 Rotation pin 60a Axis line 61 First arm 61a Lift generator 62 Second arm 82 Camera 82a First camera 82b Second camera 83 Lighting means 83a First lighting means 83b Second lighting means 401 Air motor 401a Air supply hose (air flow path)
401b Exhaust hose (air flow path)
403A, 403B Solenoid valve 4011 Air supply port 4012 Exhaust port a Main pillar q Flow direction P Steel pipe (tube body)
α angle of attack

Claims (10)

An in-pipe surface treatment device used for surface treatment of the inner surface of a tube structure having a metal tube having a circular cross section.
A guide device having a leg that is inserted into the tube and guides the axis to a position corresponding to the center line of the tube.
The guide device is provided with a work device arranged on the tip side, which is the side to be inserted into the tube body first.
The working device includes a rotation drive unit, a rotating body connected to a rotation output shaft of the rotation drive unit and rotationally driven so as to be centered on the axis of the guide device, and a tip portion of the tube body. An arm whose base end is oscillatingly connected to the rotating body via a oscillating support pin and an arm attached to the tip of the arm so that it can move in the direction of disengagement with respect to the inner peripheral surface of the cylinder. It has a surface treatment tool provided so as to protrude from the tip to the tip side.
The swing support pins are arranged at positions at predetermined intervals in the radial direction from the rotation center line of the rotating body .
The arm is provided with a lift generating portion.
The lift generating portion is such a flow with respect to the direction of the air flow relatively generated based on the rotation of the rotating body around the rotation center line in a state where the arm is on the tip end side of the rotating body. An in-pipe surface treatment apparatus characterized in that it has an angle of attack that inclines at least in a direction away from the rotation center line in a direction opposite to that of the above. The in-tube surface treatment device according to claim 1, wherein a plurality of the swing support pins are provided around the rotation center line at predetermined intervals. The in-pipe base treatment apparatus according to claim 1 or 2, wherein the swing support pin has its axis oriented in the tangential direction of a circle centered on the rotation center line of the rotating body. In a state where the arm extends to the tip end side of the guide device along the rotation center line, a temporary holding means for holding the base end portion of the arm on the rotating body with a predetermined force is the rotating body and the arm. The in-tube surface treatment apparatus according to any one of claims 1 to 3 , wherein the device is provided on at least one of the base ends of the device. The arm has a configuration including a first arm located on the proximal end side and a second arm located on the distal end side.
The base end portion of the first arm is swingably connected to the rotating body via the swing support pin, and the tip end portion thereof is via the base end portion and the rotation pin of the second arm. It is rotatably connected and
The base treatment tool is provided at the tip of the second arm so as to project from the tip toward the tip.
The rotating pin is characterized in that its axis is in a direction along a plane orthogonal to the axis of the swing support pin and is oriented in a direction substantially orthogonal to the extending direction of the first arm. The in-tube surface treatment apparatus according to any one of claims 1 to 4. The rotary output shaft in the rotary drive unit is rotationally driven by an air motor.
In the vicinity of the air motor, a solenoid valve is arranged at a position corresponding to at least one of the air flow path on the air supply port side of the air motor and the air flow path on the exhaust port side of the air motor.
The in-tube surface treatment device according to any one of claims 1 to 5 , wherein the solenoid valve is configured to be able to close and open the air flow path. A second unit that is arranged so as to be located in the direction toward the base end side of the guide device with respect to the base treatment tool, and is oriented in a direction that at least illuminates the inner surface portion of the pipe body corresponding to the base treatment tool. 1 The lighting means and the first camera oriented in the direction of at least photographing the inner surface portion thereof are provided, and in the direction toward the proximal end side of the guide device with respect to the first lighting means and the first camera. A second lighting means and an inner surface that are arranged so as to be positioned and that are oriented in a direction that at least illuminates the inner surface of the tube that is located in the direction toward the proximal end side of the guide device from the arranged position. The in-tube surface treatment apparatus according to any one of claims 1 to 6, further comprising a second camera oriented in at least a shooting direction. The first photographing device including the first lighting means and the first camera, and the second photographing device including the second lighting means and the second camera are centered on a line corresponding to the axis of the guide device. It is provided at each position that is divided into multiple equal parts in the circumferential direction.
The in-tube surface treatment device according to claim 7 , further comprising a photographing control device for displaying at least one image of the plurality of first and second cameras on a monitor. The photographing control device sequentially switches at least one of the plurality of first photographing devices and the plurality of second photographing devices in the circumferential direction, whereby the images of the plurality of first cameras and the plurality of second cameras The in-tube groundwork processing apparatus according to claim 8 , further comprising an automatic display switching circuit for sequentially displaying at least one of the images on a monitor. The imaging control device manually selects a predetermined imaging device from the plurality of first imaging devices and the plurality of second imaging devices, and displays the image of the camera in the selected imaging device on the monitor. The in-tube surface treatment apparatus according to claim 8 or 9 , further comprising a display switching circuit.

Images