JPH0569632B2 - - Google Patents

Description

[Detailed Description of the Invention] [Industrial Application Field] The present invention is an automatic tube inner surface welding device, particularly for joining pipes and reinforcing and repairing joints of existing pipes. The present invention relates to a device for efficiently welding from the inside.

[Prior Art] For example, in the case of internal welding of gas pipes against each other, or internal welding performed for the purpose of repairing an existing joint that has been welded on the outside, cleaning the weld line, especially removing rust, oil, fat, dust, etc. Complete removal is required (the adhesion of rust etc. is noticeable when repair welding of existing pipes).

Various types of welding equipment have been proposed for performing such internal welding (for example, Utility Model Publication No. 63-13900, Japanese Patent Publication No. 49-21225,
(Japanese Patent Application Laid-Open No. 56-114577, etc.). In addition, it can also be used as an internal cleaning and grinding (hereinafter referred to as surface preparation) device prior to welding, for example,
Examples such as the publication of No. 10470 are known.

[Problems to be Solved by the Invention] However, in any of the above-mentioned conventional techniques, since the device for internal welding and the device for surface treatment are installed on separate carts, When performing a series of work up to internal welding, it is necessary to replace the cart depending on the work content, and each time it is necessary to take the cart out of the pipe, insert it, move it, and position it, which reduces work efficiency. was inviting. In addition, there are cases where each trolley is equipped with a monitoring device for positioning.
This also had the problem of raising the cost of the device.

SUMMARY OF THE INVENTION It is an object of the present invention to provide an automatic tube inner surface welding device that solves these problems of the prior art, allows efficient and easy work, and reduces equipment costs.

[Means for Solving the Problems] To achieve this object, the welding device of the present invention is a device for automatically welding the inner surfaces of mutually abutting portions of tubes using a welding machine installed on a truck that runs inside the tube. A face plate that can rotate in the circumferential direction of the pipe and move forward and backward in the axial direction of the pipe is provided on the front surface, and a grinding device that is movable in the pipe radial direction and has an abrasive material that can be pressed against the pipe wall and is movable in the pipe radial direction is mounted on the face plate. The present invention is characterized in that a welding device having a movable welding torch and a monitoring device that directs the pipe wall and the welding location are respectively disposed.

[Function] In the present invention, the equipment for surface preparation, inner welding, and monitoring are mounted on the same face plate, so after fixing the face plate in a predetermined position, by moving and rotating each equipment and face plate, It will do the necessary work.

[Example] Examples will be explained with reference to the drawings.

The drawings show an example in which the present invention is applied to internal welding for repairing the butt portion of an existing pipe 28. The welding device of the present invention is mounted on a truck that travels inside a pipe.

As shown in FIG. 1, a disk-shaped face plate 2 is attached to the front surface of the truck 1 via a shaft 8 in a plane substantially perpendicular to the axial direction (X direction) of the tube 28. The face plate 2 is attached so as to be able to move forward and backward over a certain range in the X direction with respect to the truck 1, and to be pivotable in the pipe circumferential direction (S direction) around the X axis. That is, as shown in the figure, there is a motor 1 inside the truck 1.
A hollow drum 9 rotating in the S direction by a shaft 5 is installed via a bearing 14, and a shaft 8 having the face plate fixed to its tip is mounted on the axis of the drum 9.
As shown in FIG. 2, the face plate shaft 8 is provided with a key groove 8a along its axial direction.
a is a protrusion 10a of the guide 10 fixed to the drum 9;
Due to the combination of these grooves and protrusions, the shaft 8 does not rotate in the S direction, but is slidable in the X direction. Therefore, as the drum 9 rotates, they both turn in the S direction. Further, a rack 13 is provided at the rear of the shaft 8, and the rack is connected to a gear 1 rotated by a motor 11.
2, and the rotation of the gear 12 causes the shaft 8, that is, the face plate 2, to slide over a certain range in the X direction.

FIG. 3 shows a welding device W, a polishing device P, and a monitoring device S arranged on the face plate 2. The polishing device and the monitoring device are arranged on both sides of the welding device, facing toward the welded part of the pipe wall. They are set up so that they converge.
First, the welding torch 3 of the welding device is fixed to a guide 17 and is slidable along a guide rail 16 provided in a direction perpendicular to the pipe wall. is transmitted to the guide 17 and driven in a direction perpendicular to the tube wall. The belt 19 is connected to the pulley 2 provided on the opposite side.
Guided by 0.

Further, the polishing device P is installed on the same plane plate 2 adjacent to the welding device, and the abrasive material 21 provided at the tip of the device body 6 rotates within a plane parallel to the face plate 2. As shown in FIG. 4, the polishing device main body 6 is fixed at its rear end to a guide 22, and the guide 22 is attached to be slidable along a guide rail 23 attached to the face plate 2. As shown in FIG. The guide 22 is connected to the tip of the rod 25 of the air cylinder 24,
The device main body 6 moves forward and backward relative to the pipe wall by driving the cylinder.

The monitoring device S is arranged on the face plate 2 at a position facing the polishing device with the welding device in between. This monitoring device is composed of, for example, a TV camera 26 and a light 27. The camera 26 is directed toward the tip of the torch of the welding device and is in a state where it can photograph the tube wall and the tip of the torch. placed in a position that illuminates the tube wall included in the field of view.

Next, the working procedure of the illustrated apparatus will be explained using an example of welding for repairing the inner surface of an existing pipe.

Normally, when the welding cart 1 shown in FIG. 1 travels inside a pipe, it connects a continuous group of carts as illustrated in FIG. 6. That is, the fifth truck is connected to the rear of the truck 1 provided with the above-mentioned face plate 2 via a universal joint. These carts include, for example, a wire cart 1A for supplying welding wire, a traveling clamp cart 1B,
1E, and traveling stroke carts 1C and 1D.

The camera 26 installed on the face plate 2 of the welding cart 1 that has traveled inside the pipe is located at a predetermined position within the pipe 28 (welding line 2
When the designated position in front of 8a) is confirmed, the trolley 1
to stop. At this position, the cylinder 24 of the polishing device P is driven to move the device main body 6 toward the tube wall, and the abrasive material 21 at its tip is pressed against the tube wall (see FIG. 3). In this state, the face plate 2 is rotated by operating the motor 15, and the abrasive material 21 is pressed against the pipe wall and revolved along the inner circumference of the pipe.
1 itself is also rotated to perform surface treatment (removal of rust, oil, fat, tar, etc.) of the welding part. In this case, the position of the weld line and the polishing condition are checked using the camera 26, and the face plate 2 is moved in the X-axis direction using the motor 11 to make corrections if necessary. Once the base treatment is completed, cylinder 24
is driven in the opposite direction to the above to separate the entire polishing device from the pipe wall, and the polishing device is stopped.

Next, the motor 18 of the welding device W is driven and adjusted so that the tip of the welding torch 3 and the tube wall are at a predetermined distance (in the tube diameter direction). After that, the motor 11 is driven so that the welding line and the tip of the welding torch have a predetermined positional relationship (in the tube axis direction), and the face plate 2
is moved in the X-axis direction (see Figure 5). Then,
Welding (for example, gas shield welding) is started, and the face plate 2 is rotated in the circumferential direction of the tube by driving the motor 15 in a predetermined direction and at a predetermined speed, thereby performing circumferential welding.

When this circumferential welding is completed, stop welding,
The motor 18 is driven to lift the welding torch 3 from the pipe wall, and at the same time, the rotation of the face plate 2 is stopped. Thereafter, stack welding is performed by repeating the above steps as necessary.

In the present invention, the distance between the welding torch 3 and the pipe wall or the welding line 28 between the welding torch 3 and the welding line 28 is measured using the camera 26.
Check the positional relationship with the face plate advance/retreat motor 18.
Alternatively, the position of the welding torch can be adjusted by driving the motor 11 of the welding device, or the position of the torch can be adjusted by moving the face plate in the X-axis direction. Of course, find the weld line in the circumferential direction in advance,
Circumferential welding may be performed by moving the welding equipment while copying this with a copying mechanism.

In addition, when the present invention is applied to internal welding of the butt portion of a newly installed pipe, the illustrated polishing device may be replaced with a grinding device equipped with something such as a grinder.

[Effects of the Invention] According to the inner welding position of the present invention explained above,
Since the necessary equipment is mounted on the same trolley, there is no need to replace the trolley, pull it out of the pipe, insert it into the pipe, or reposition the trolley depending on the work, and it can be carried out continuously. Being able to perform a series of tasks greatly improves efficiency. Additionally, equipment costs are also reduced.

[Brief explanation of the drawing]

Fig. 1 is a cross-sectional view showing an example of a welding device according to the present invention, Fig. 2 is a cross-sectional view showing the relationship between the shaft and the guide in Fig. 1, and Fig. 3 is a cross-sectional view showing an example of the welding device according to the invention. FIG. 4 is a side view of the grinding device; FIG. 5 is a front view showing the welding device in operation in the apparatus of the present invention; FIG. The figure is an explanatory diagram showing an example of a group of carts following a cart on which the device of the present invention is mounted. 1... Trolley, 2... Face plate, 3... Welding torch,
8...Shaft, 9...Drum, 10, 17, 2
2... Guide, 11, 15, 18... Motor, 1
2...Gear, 13...Rack, 14...Bearing, 1
6, 23... Guide rail, 19... Belt, 2
0... Pulley, 21... Abrasive material, 24... Air cylinder, 26... TV camera, 27... Light,
28...Tube.

Claims (1)

[Scope of Claims] 1. In a device for automatically welding the inner surfaces of butt portions of pipes using a welding machine installed on a truck running inside a pipe, the truck includes a device on the front surface of the truck that can turn in the circumferential direction of the tube and move forward and backward in the axial direction of the tube. A grinding device that is movable in the radial direction of the tube and has a grinding material that can be pressed against the tube wall; a welding device that has a welding torch that is movable in the radial direction of the tube; An automatic welding device for an inner surface of a tube, characterized in that a monitoring device that directs the location is arranged at each location.