JPS5838346B2 - Steel pipe inner running device - Google Patents

Description

DETAILED DESCRIPTION OF THE INVENTION The present invention relates to a steel pipe inner surface running device for moving equipment such as a paint sprayer or a television camera on the inner surface of a steel pipe.

When moving various equipment to the inner surface of a steel pipe with a length of several 10 rrL for painting work, photographing work, flaw detection work, etc., workers must enter the steel pipe and manually operate the coating machine, etc. There is.

However, the inner diameter is 60071171! The following steel pipes make it impossible for workers to enter and operate various equipment.

In order to carry out one-joint work, a method has been proposed in which a painting machine or the like is mounted on a cart with wheels and the cart is pushed in from the outside using a connecting rod, but the movement of the cart is unstable and the cart cannot be moved. The moving locus of the blade is not constant, and it is not possible to support the reaction force during the cleaning work performed as a pre-work of the coating equipment, making it impossible to perform the cleaning work reliably.

Furthermore, since this cart is moved from the outside using a connecting rod, the device becomes large and the movement of the cart is inaccurate.
The problem is that it is complicated to install various devices on the trolley.

In consideration of the above-mentioned facts, the present invention aims to provide a steel pipe internal running device that is capable of stable and accurate movement and that allows various devices to be easily attached and detached.

The steel pipe inner running device according to the present invention improves stability by supporting the main body of the running device on the inner surface of the steel pipe by radially protruding at least three support legs to the outside of the running device,
A pair of rollers provided on the opposite side of the traveling device main body are spread out and brought into contact with the inner surface of the steel pipe, and by driving these rollers with a drive device, the traveling device main body is advanced toward the inner surface of the steel pipe, and the traveling device main body can be moved accurately. A device mounting recess with one end open is provided at one end of the main body of the traveling device, so that a coating machine or the like can be easily and reliably mounted and removed.

An example in which the present invention is used for painting the inner surface of a steel pipe will be described below.

In this example, multiple steel pipes are welded in series to create a steel pipe with a long shaft length (approximately 50 m), and the inner peripheral surface of the welded part of this steel pipe is sequentially cleaned, dusted, and painted. A grinder, a dust collector, and a paint machine are sequentially installed in the mounting recess of the steel pipe inner running device to carry out these operations.

In FIG. 1, a cleaning machine 12 is attached to the traveling device 10 and is cleaning the inner circumferential surface (unpainted portion length L) of the welded portion 18 of the steel pipe 14, 16.

The traveling device 10 is provided with a first main body 20 and a second main body 22 that move along the axes of the steel pipes 14 and 16.

The first main body 20 has a cylindrical shape as shown in FIGS. 2 and 3, and the traveling device 10 is inserted into the steel pipe up to the deepest weld among the plurality of welds (in the direction of arrow A in FIG. 1). The cleaning work etc. is performed without moving the traveling device 10 in the opposite direction, that is, in the direction in which the traveling device 10 is pulled out from inside the steel pipe.

An air motor 26 is fixed to a mounting plate 24 at an axially intermediate portion of the first body 20, and is driven by an air hose (not shown) connected to the outside of the steel pipe.

The output shaft of the air motor 26 is connected to a reducer 30 via a coupling 28, and a small gear 32 fixed to the output shaft of the reducer 30 meshes with a dog gear 34.

This dog gear 34 is fixed to a central shaft 38 that is pivotally supported by a pair of brackets 36 protruding from the rear end surface of the first main body 20.

Therefore, the rotation of the air motor 26 is transmitted to the central shaft 38 via the reduction gear 30.

Upper arms 40 and 41 and lower arms 42 and 43 are respectively pivotally supported near both ends of the central shaft 38.
It is possible to rotate relative to the

The tips of these upper arms 40, 41 and the lower arm 4
Both ends of a rotary shaft 44 are pivotally supported at the tip of 2.43.

Rubber rollers 46 are fixed to each of these rotating shafts 44, and the outer circumferential portions of these rubber rollers 46 have a so-called mid-height shape in which the diameter is largest at the middle portion in the axial direction. The shape follows the curvature of the circumferential surface.

A sprocket foil 48 is fixed to the rotating shaft 44 so as to rotate together with the rotating shaft 44, and a chain 52 is stretched between the sprocket foil 48 and a sprocket foil 50 fixed to the central shaft 38. ing.

As a result, the rotating shaft 44 and the rubber roller 46 are respectively transmitted with the driving force of the air motor 26 and rotated, and by switching the rotation of the air motor, the traveling device 10 is moved to the deepest welded part of the steel pipe (in the direction of arrow A) or in the opposite direction. It is designed to generate the driving force to

One end of a tension screw 56 is supported at the axial center of the center shaft 38 via an alignment bearing 54 .

This tension screw 56 has its axis aligned with the steel pipe 1 when inserted into the steel pipe.
It is arranged coaxially with the axis of 4.16, and the center axis 38
It rotates in a centered manner around the axis of the shaft via a centering bearing 54, thereby absorbing errors.

A moving block 58 is loosely fitted into the middle portion of the tension screw 56 and is movable in the axial direction of the tension screw 56.

One end of a pair of upper links 60 and a lower link 62 is supported by a shaft 64 on the moving block 58, and the tips of the upper link 60 and the lower link 62 are connected to the upper arm 40 by a shaft 66, respectively. , 41 and the lower arms 42, 43.

These upper links 60 and lower links 62 are connected to the upper arm 40 when the moving block 58 moves in the direction of the central axis 38.
, 41 and the lower arms 42, 43 are expanded as shown by two-dot chain lines in FIG. 2, so that the rubber roller 46 is brought into contact with the steel pipe having the inner diameter of the insert.

The upper links 60, 62 are provided with a plurality of preliminary holes 68 in their intermediate portions, and the shaft 66 is applied to these preliminary holes 68 when painting a small diameter steel pipe.

The moving block 58 is connected via the thrust bearing 10 to one end of a compression coil spring 72, which is loosely fitted onto the tension screw 56 and whose other end is fixed to the washer 14.

This washer 14 corresponds to a handle wheel 76 that is screwed onto the tip of the tension screw 56.

This steering wheel 76 is operated by a worker who moves the traveling device 10 to the steel pipe 14.
, 16, the screwing force is transmitted to the movable block 58 via the washer 14, the compression coil spring γ2, and the thrust bearing 74, and the movable block is connected to the tension screw 56. The amount of expansion of the rubber roller 46 is adjusted by moving in the axial direction.

The compression coil spring T2 always urges and compresses the rubber roller 46 toward the inner surface of the steel pipe.

Next, the film thickness sensor 18 attached to the outer periphery of the intermediate portion of the first body 20 will be explained with reference to FIGS. Mounting bolt 84 on top
An adjustment plate 88 is supported by a combination of the adjustment plate 88 and the sensor base 80, and a compression coil spring 90 is interposed between the adjustment plate 88 and the sensor base 80 to elastically support the adjustment plate 88.

A support post 92 is mounted on the adjustment plate 88, and a middle part of a sensor arm 96 is pivotally supported to the middle part of the support post 92 by a bolt 94.

This sensor arm 96 can be adjusted in the radial direction of the steel pipe by attaching a bolt 94 to the support 92 through an elongated hole formed in the support 92.

A sensor roller 98 is pivotally supported at one end of the sensor arm 96, and the film thickness is determined by the height difference between the sensor roller 98 and the presser roller 100 which is pivotally supported at the tip of the support column 92, that is, by the change in the protruding length from the axis of the steel pipe. It is designed to detect.

The other end of the sensor arm 96 corresponds to the sensor body 102.

This sensor main body 102 is provided with opposing blocks 104 and 106 as shown in FIG.
The end of the sensor arm 96 is inserted between these.

An air nozzle 108 is attached to the opposing block 104 and is configured to eject air from an air hose 110 toward the opposing block 106.

This ejection pressure is detected by an air detection section 112 attached to the opposing block 106.

Therefore, when the sensor roller 98 protrudes from the press roller 100 by the thickness of the coating film (300 to 500 micrometers), as shown in FIG. roller 9
8 comes into contact with an unpainted surface, the sensor roller 98 protrudes from the presser roller 100 by this film thickness, so the amount of movement is expanded by the lever ratio of the sensor arm 96, and the end of the sensor arm 96 Opposing block 104
.

A tension coil spring 116 is interposed between an adjustment plate 88 and a support bolt 114 that is relatively movably attached to the middle part of the sensor arm 96, so that the pressing force of the sensor roller 98 against the inner surface of the steel pipe can be adjusted. It looks like this,
Further, the sensor main body 102 is connected to the bolt 1 in the same way as the adjustment plate 88.
18, is elastically supported so that its attachment position to the adjustment plate 88 can be adjusted via a wing nut 120 and a compression coil spring 122.

Next, the second main body 22 will be explained.
2 has its rear end secured to the front end of the first body 20 via a connecting pipe 124, and is disposed coaxially with the first body 20. As shown in FIG.

This second body 22 has a cylindrical hole 126 which is a mounting recess.
The front end of this cylindrical hole 126 is open so that a cleaner 12 or the like can be attached thereto.

Three sets of support legs 128 are provided at equal intervals around the second main body 22 on the outer periphery of the second main body 22 .

Each of these support legs 128 has the same structure, so to explain one set of them, as shown in FIGS. 9 and 10, a pair of fixed frames are connected between a pair of brackets 130 fixed to the outer periphery of the second main body 22. 132 is fixed,
A pair of movable frames 134 are configured to move in parallel with the fixed frame 132 in the radial direction of the steel pipe.

Rubber rollers 136 are supported by bearings 138 at both ends of these moving frames 134, and three sets of support legs 1
Each of the 28 rubber rollers 136 comes into contact with the inner surface of the steel pipe to support the traveling device 10 on the inner surface of the steel pipe.

Between the fixed frame 132 and the movable frame 134, a pair of first
A link 140 and a second link 142 are attached so that the moving frame 134 is moved in parallel by a pantograph mechanism.

That is, one end of the first link 140 and one end of the second link 142 are pivotally supported by shafts 144 and 146 to one ends of the fixed frame 132 and the movable frame 134, respectively.

In addition, these first links 140 and second links 142
are rotatably connected to each other by a shaft 148, and rollers 154, 156 are rotatably supported at the other ends via shafts 150, 152, respectively.

These rollers 154 and 156 are guided by guide grooves 158 and 1 having a U-shaped cross section formed in the moving frame 134 and the fixed frame 132.
60 in the longitudinal direction of these moving frames 134 and fixed frames 132.

One end of an adjusting screw 162 is fixed to the shaft 152 on which these rollers 156 are supported.

This adjustment screw 162 has its axis arranged parallel to the axis of the steel pipe and extends in the direction of the first main body 20, and its tip ends are threadedly engaged with the internally threaded rotary bodies 164 (seventh
figure).

This internally threaded rotating body 164 is pivotally supported by three brackets 166 that protrude toward the front end of the first main body 20, and as it rotates, it moves the screwed adjusting screw 162 in the axial direction, and the roller 154 is moved. It is moved within the guide groove 158 to change the intersection angle between the first link 140 and the second link 142.

As shown in FIG. 8, three operating handles 168 protrude in the radial direction from one female-threaded rotating body 164 among the three female-threaded rotating bodies.

These operation handles 168 are moved to a position parallel to the axis of the rotating body 164, that is, in a direction parallel to the axis of the steel pipe and parallel to the axis of the rotating body 164, by a moderation mechanism in which a stopper biased by a spring enters a groove in the rotating part. It can take two positions in the radial direction.

Therefore, when adjusting the degree of expansion of the support legs 128, the operation handle 168 is arranged in the radial direction of the rotating body 164, and the rotating body 164 is rotated.
If the operation handle, which protrudes more toward the inner surface of the steel pipe, is rotated and placed parallel to the axis of the steel pipe as shown in FIG. 7, the traveling device 10 will not interfere with the steel pipe when moving within the steel pipe. .

The rotation of the rotating body 164 by this operating handle 168 is as follows:
Three brackets 16 protruding toward the front end of the first body 20
By winding a chain 172 around a sprocket wheel 170 fixed to each rotary body 164 that is pivotally supported by the rotation body 164, the chain 172 is synchronously transmitted to the other two rotary bodies 164.

Further, the two rotating bodies 164 that are not provided with the operating handle 168 have an adjusting screw 174 on the opposite side of the adjusting screw 162.
are screwed together and correspond to two sets of support legs 176 attached to the outside of the first main body 20.

These support legs 176 have the same shape as the support legs 128 of the second body 22, and are similar to the support legs 128 of the first body 20.
is supported on the inner surface of the steel pipe.

Next, the cleaner 12 is attached to the tip of the second main body 22.
To explain this with reference to FIG. 12, this grinder 12 has an inner cylinder 17 inserted into a cylindrical hole 126 of the second main body 22.
It has 8.

A rotating shaft 180 is pivotally supported at the front end of the inner cylinder 178, and a bracket 182 is fixed to one end of the rotating shaft 180.

This bracket 182 is equipped with an air cylinder 184 that allows an air grinder 186 to move in the radial direction of the inner tube 178, that is, toward the inner peripheral surface of the steel pipe, and the air grinder 186 is connected to an air hose (not shown). The wire brush 188 is connected by the driving force of the air.
can be rotated to polish the inner surface of the welded part.

The bracket 182 is also provided with a jet chisel main body 192 that communicates with an air supply source, and this jet chisel main body 192 communicates with an air supply source (not shown) and, like the air grinder 186, approaches the inner surface of the steel pipe. A chisel 194 at the tip makes a piston motion to peel off slag, etc. from the inner circumferential surface of the weld.

These air grinder 186 and jet chisel main body 192 rotate around the axis of the inner cylinder 178 together with the rotary shaft 180 by the driving force of the air drive unit 196 provided in the inner cylinder 178, and sequentially grind the inner circumferential surface of the steel pipe. It is supposed to be cleaned.

In addition, the air grinder 186 and the jet chisel main body 19
Rollers 197 are each pivotally supported by the rollers 197, and when the air cylinders 184 and 190 are driven, they hit the inner surface of the steel pipe before the wire brush 188 and the chisel 194.

Incidentally, after the inner cylinder 178 is inserted into the second main body 22, a mounting bolt 198 is screwed in the radial direction as shown in FIG. 1 to fix it to the second main body 22.

A procedure for cleaning a welded portion on the inner surface of a steel pipe using the traveling device 10 configured as described above will be described.

As shown in FIG. 1, a plurality of steel pipes are coaxially welded to each other, and a grinder 12 is attached to the tip of the traveling device 10. The degree of expansion of the rubber roller 46, which is a driving part, is adjusted to correspond to the inner diameter of the steel pipe.

Next, the air motor 26 is driven to insert the traveling device 10 into the deepest weld among the plurality of welds in the steel pipe.

Next, the air motor is driven in the opposite direction to remove the traveling device 10 from the steel pipe while performing the cleaning work.

That is, after detecting a film thickness change by the film thickness sensor 18, the traveling device 10 is further connected to the wire brush 18.
8 and the chisel 194, and the air grinder 186 and the jet chisel main body 192 are driven.

As a result, slag and spatter are removed from the inner peripheral surface of the weld.

At the same time as this cleaning operation, the drive unit 196 is driven by air to rotate the wire brush 188 and the chisel 194 within the steel pipe around the axis of the steel pipe, thereby performing the cleaning operation over the entire inner peripheral surface of the welded portion.

The rotation of the wire brush 188 and the chisel 194 about the axis of the steel pipe is repeated in forward and reverse directions, thereby making it possible to efficiently and reliably clean the inner circumferential surface of the weld.

After the cleaning work of the deepest weld is completed, the traveling device 10 is further driven to pull out the weld, and the weld next to the deepest weld is polished, and in this way, the inner peripheral surface of the weld is sequentially polished. After this is done, the traveling device 10 is pulled out of the steel pipe.

Thereafter, the sanding machine 12 is removed from the second main body 22, and a dust collector and a paint machine having an inner cylinder similar to that of this sanding machine 12 are installed one after another, and the traveling device 10 is driven in the same way to perform dust collection and painting work respectively. do the work.

In addition to the embodiments described above, various operations can be performed by attaching a television camera, a flaw detector, etc. to the mounting recess of the steel pipe inner running device.

As explained above, the steel pipe inner surface traveling device according to the present invention is provided with at least three support legs on the outside of the traveling device main body, so that the traveling device main body can be stably advanced on the inner surface of the steel pipe, and the installed equipment can The generated reaction force can be reliably supported, and a pair of rollers provided on the outside of the main body on opposite sides are brought into contact with the inner surface of the steel pipe by an expanding device, and the rollers are rotated by a drive device to move the main body. movement is reliable and accurate, and various devices are installed by being inserted into a mounting recess provided at one end of the main body, so various devices can be reliably and easily installed, and removal is also extremely easy.

[Brief explanation of drawings]

FIG. 1 is a front view showing a steel pipe inner surface coating apparatus according to the present invention;
2 is a cross-sectional front view showing the traveling device, FIG. 3 is a cross-sectional front view of FIG. 2, and FIG. 4 is an enlarged view showing the film thickness sensor 18.
5 is a left side view of FIG. 4, FIG. 6 is a sectional view taken along the line Vl-Vl of FIG. 4, FIG. Figure 9 is a front view showing the support leg, Figure 10 is a sectional view taken along line X-X in Figure 9, Figure 11 is a sectional view taken along line IX-IX in Figure 9, Figure 12 13 is a cross-sectional front view showing the cleaning machine, and FIG. 13 is a cross-sectional view taken along the line ■■ in FIG. 12. 10... Travel device, 12... Transfer machine,
14.16... Steel pipe, 20... Main body, 22... Second main body, 26... Air motor, 38... Center Axis, 40.41...
...Upper arm, 42.43...Lower arm, 46
...Rubber roller, 48,50...Sprocket wheel, 52...Chain, 56...
...Tension screw, 58...Movement block, 6
0...Top link, 62...Bottom link,
76... Handle wheel, 126... Cylindrical hole, 128... Support leg, 136...
Rubber roller, 140...First link, 142.
...Second link, 162...Adjustment screw,
164... Female screw rotating body, 168...
・Operation handle, 176...Support leg.

Claims (1)

[Claims] 1. A traveling device main body, at least three support legs that protrude radially outward from the main body and whose protruding lengths are adjustable, and a pair of rollers provided outside the main body on opposite sides of the main body. , an expanding device that adjusts the protruding length of the rollers from the main body and brings them into contact with the inner surface of the steel pipe; a drive device that drives these rollers to advance the main body into the steel pipe; and a drive device that is formed at one end of the main body. A steel pipe inner running device having a device mounting recess with one end open.