JPH0641811B2 - Automatic lining device - Google Patents

Description

DETAILED DESCRIPTION OF THE INVENTION <Industrial field of application> The present invention relates to an automatic lining device for automatically and uniformly spraying a lining material onto the inner surface of a high-rise structure such as a high-rise stack or a tower. Regarding

<Prior art and problems> Up until now, the work of lining fire-resistant materials and acid-resistant materials on the inner surfaces of high-rise structures such as high-rise chimneys and steel towers has been reliant on human power. Since the work is done by human power, it is not efficient even if it requires a lot of manpower, and for the worker,
The work environment is very bad because there is a big danger because the work is carried out at a high place after boarding the gondola facility, and dust is generated. Furthermore, recently, since the number of workers performing the above special work is decreasing, it is difficult to make a work plan,
There is a problem that the lining construction period also takes a long time.

Although it is considered that the lining work is automated with respect to the above-mentioned various problems, there is a problem that has to be solved in automating the lining work. In order to automate the lining work, it is not enough to automate or mechanize the spraying of the lining material, and it is necessary to make the spraying thickness of the lining material uniform at a predetermined lining thickness. The measurement of the spray thickness of this lining material is
In the manual work, the gauge was used for visual observation, and if the spraying of the lining material should be automated, it must be automated accordingly, but such means has not been proposed yet.

<Means for Solving Problems> The present invention has been made in view of the above technical situation, and provides a lining device having an automatic spraying function of a lining material and an automatic measuring function of the lining thickness. The aim is to improve the efficiency of lining work and to secure a high quality lining work surface.

The configuration of the present invention that achieves the above object is such that the device main body is mounted on a pedestal that can move up and down along the inner surface of a high-layer cylindrical structure so as to be able to travel along the inner peripheral surface of the structure, and A nozzle head equipped with a nozzle for injecting a lining material toward the inner surface of a structure is vertically movable, swingable, and equipped to the apparatus main body so as to be movable back and forth with respect to the inner surface of the structure. Equipped with a non-contact type distance detector that detects the distance to the inner surface of the structure before and after the lining material is sprayed to measure the thickness of the lining material sprayed on the inner surface of the object, and further, the previously determined nozzle The nozzle head and the apparatus main body are driven to spray the lining material for the first time based on the relationship between the speed and the lining thickness, and based on the thickness of the lining material actually sprayed. An automatic lining apparatus comprising means for driving the nozzle head and the apparatus main body to spray a second lining material based on the corrected relationship between the nozzle speed and the lining thickness. Exist.

<Operation> In the automatic lining device having the above configuration, the main body of the device is moved along the surface of the structure, and the lining material is sprayed from the nozzle to apply the lining material to the surface of the structure. In addition, the distance detector measures the change in the distance before and after the lining material is applied, that is, the lining thickness, along with the execution of the lining material.By comparing the lining thickness with the target lining thickness, the nozzle position can be corrected and the next lining thickness can be changed. It becomes possible and the lining thickness is made uniform.

<Embodiment> FIG. 1 shows a partially broken front view of an automatic lining device according to an embodiment of the present invention, and FIG. 2 shows the embodiment device of FIG. 1 mounted on a high-rise structure. FIG. 3 shows the correlation between the spraying nozzle traveling speed of the automatic lining device and the lining thickness, and FIG. 4 shows the lining thickness detection procedure by the distance detector.

Reference numeral 1 denotes a gondola device as a gantry, which is suspended by a plurality of suspension ropes 3 inside a target object (high-rise structure) 2 such as a cylinder of a high-rise chimney. The suspension rope 3 is mounted on the top 4 of the lining target object 2 via a pulley 5 or something similar thereto, and by a suspension rope winding device installed on the ground (for example, a poop device, but not shown in the drawing). It is rolled up and down. Further, the gondola device 1 is provided with a plurality of guides and a shake prevention device 6 (details will be described later) so as not to collide with the inner wall surface of the target object 2 when the gondola device 1 is moved up and down. The suspension rope winding device enables control of the gondola device 1 in the height direction, and the control is performed by an operator operating an operation panel (not shown) arranged on the ground. This is done by starting and stopping the driving device of.

The gondola device 1 is provided with a circular track rail 7 for moving the lining material spray nozzle up and down, advancing and retracting, inclining,
An automatic lining device 8 composed of a mechanical device having an operation function of swinging is mounted on the track rail 7. As the automatic lining device 8 travels on the track rail 7, the lining material spraying nozzle is operated along the inner wall surface of the target object 2.

A supply device 9 for a lining material such as a refractory material and an acid resistant material required for the construction of the lining work is provided on a platform 2 such as an inspection corridor provided on the ground or at a height of the target object 2.
Installed on a, the power of the gondola device 1 and the automatic lining device 8, a plurality of cables including the control line, and hoses 11 are used to supply materials necessary for performing the lining process, electric air, etc. . The cables and hoses 11 are the inspection manholes 10 provided on the target object 2.
Using the opening of the above or the smoke opening near the ground, wiring and piping are performed up to the gondola device 1 and the automatic lining device 8.

Self-propelled carriage 12 forming the main body of the automatic lining device 8.
Is equipped with a motor 13 with a position detector, a speed reducer (not shown), wheels 14, a guide, a fall prevention roller 15, and the like,
Circular track rail 7 laid on the gondola device 1
The vehicle travels above along the inner wall surface of the target object 2. In the automatic lining device 8, the column 16 has a drive transmission system including a motor 17 with a position detector and a screw 18 rotated by the motor 17, and an elevator 19 is screwed to the screw 18 to lift the elevator 19. Is moved up and down by the drive transmission system. The lift table 19 has a drive transmission system including a motor with position detector 21, a speed reducer, a pinion, a rack 22 and the like, and the arm 20 provided on the lift table 19 uses the drive transmission system to move in the front-back direction (target object 2). Driven in the direction perpendicular to the inner wall surface). A nozzle head 23 is provided at the tip of the arm 20, and a nozzle 24 for spraying a lining material is provided on the nozzle head 23 so as to be swingable via a motor, a speed reducer or the like (not shown). The column 16 is provided with an ITV device 25 including a light emitting device for monitoring the lining portion, and a distance using an ultrasonic sensor for detecting the distance to the inner wall surface of the target object 2 near the tip of the spray nozzle 24. A detector 26 is provided, and the distance between the distance detector 26 and the inner wall surface of the target object 2 is _{0 in the} self-propelled carriage 12.
A distance detector 27 for comparison reference having exactly the same function as the distance detector 26 is provided.

In the figure, 28 is a metal fitting provided on the inner wall surface of the target object 2 for adhering the sprayed lining material, and 29 is a constructed lining material. As the metal fittings 28, for example, as shown in FIG. 4, a stud 30 fixed to the inner wall surface of the target object 2 by welding or the like, a vertical line 31, a horizontal line 32 fixed to the stud 30 by welding, or the like. A lath material (wire net) 33 fixed to the muscles 31 and the lateral muscles 32 may be considered.

In FIG. 4, ₀ is the distance from the distance detectors 26, 27 to the inner wall surface of the target object 2, and ₁ is the distance detectors 26, 27.
To the lath material 33, ₂ is the distance detector 26, 2
Distance from 7 to the surface of the lining material 29, T
Is a predetermined lining thickness of a lining construction target, t ₁ is a sprayed lining thickness, and L is a spray nozzle 24.
Is the distance to travel along the inner wall surface of the target object 2.

Next, the lining work by the automatic lining device having the above configuration will be described.

Installed on the ground in the gondola device 1 and the automatic lining device 8 mounted on the gondola device 1 which is carried in and assembled by a hand or a crane into the inner surface of the target object 2 through an opening such as a smoke passage opening provided in the lower part of the target object 2. By operating the operation panel of No. 2, the suspension rope winding device arranged on the ground is operated to lift the gondola device 1 to a predetermined lining construction location (height). It should be noted that, including the lining material supply hose from the lining material supply device 9, cables necessary for the lining process, cables such as electricity and air, and hoses 11 are before or after the gondola device 1 is lifted or after the gondola device 1 is lifted. Needless to say, it is connected to a predetermined connection port provided in the automatic lining device 8. Further, in the lining work on the inner surface of the chimney or the like, when the lining material is sprayed on the surface of the target object 2 by using air or the like, the lining material is rebounded from the surface of the target object 2 (rebound). ) In consideration of the influence on the quality of the lining due to the deposit of), the lining work is generally performed from the upper side to the lower side.

As described above, when the gondola device 1 is lifted to a predetermined height position, the guide roller provided at the lower part of the gondola device 1 and the cylinder constituting the shake prevention device 6 are operated, the guide roller is projected, and the target object Metal fittings 28 provided on the inner wall of 2
(Consists of vertical stripes 31, horizontal stripes 32, and lath members 33)
With a constant force, the gondola device 1 is prevented from shaking, and the axis of the gondola device 1 and the axis of the chimney barrel are substantially aligned.

Next, the operator on the ground uses the ITV device 25 provided near the top of the column 16 that constitutes the automatic lining device 8, and an image of the vicinity of the tip of the lining material spray nozzle 24 projected on the cathode ray tube in the operation panel. While watching
The suspension rope winding device is operated to perform fine adjustment positioning of the gondola device 1 in the height direction.

Next, the lifting table 19 which constitutes the automatic lining device 8 is set to its lower limit stroke position by driving the motor 17 via the screw 18, and the arm 20 is set to the motor 21.
The distance provided in the vicinity of the tip of the spray nozzle 24 which is moved forward and backward through the pinion and the rack 22 by the drive of the nozzle, and is made perpendicular to the inner wall surface of the target object 2 by the motor of the nozzle head 23, the speed reducer, and the like. Detector 26 and target object 2
Position so that the distance to the inner wall surface is _zero .

For the automatic spraying work of the lining material, the lining material is supplied by air from the lining material supply device 9 to the cables and hoses 11.
It is carried out by pressure-feeding to the spray nozzle 24 through the nozzle, adding water at the spray nozzle 24, and then blowing it out. At the same time, the drive motors 17 and 21 are driven at high speed in the forward and reverse directions so that the distance ₀ between the distance detector 26 and the inner wall surface of the target object 2 does not change in the stroke range of the elevator 19 and the arm 19 and the arm. 20 is drive-controlled. That is, the spray nozzle 24 is moved up and down with respect to the surface of the target object 2 at a high speed, so that the lining construction surface is wide. Further, by driving the motor 13 of the self-propelled carriage 12 which constitutes the automatic lining device 8, the spray nozzle 24 is operated along the inner wall surface of the target object 2 to move up and down, left and right of the inner wall surface of the target object 2. Directional lining work is done automatically.

That is, the self-propelled carriage 1 that constitutes the automatic lining device 8
2. By controlling the drive of the lift table 19 and the arm 20, the lining is automatically installed in the circumferential direction of the inner wall surface of the target object 2 within the stroke range of the lift table 19.

When the lining having a predetermined thickness is constructed over the circumference of the inner wall surface of the target object 2, the suspension rope winding device is operated by the operation of the operation panel installed on the ground to lower the gondola device 1 to a predetermined distance. , The next lining construction location is automatically lined.

By repeating these steps, the lining work of a predetermined thickness can be automatically performed over the entire inner wall surface of the target object 2.

Next, a lining construction method for obtaining a lining thickness of a predetermined thickness using the distance detectors 26 and 27 will be described.

When the lining work is performed manually, the lining thickness is controlled by moving the spray nozzle 24 with a sensory feeling of the spraying operator according to the ability of the lining material supply device 9.
The lining material is sprayed, and the gauge is measured by a gaugeman after spraying, so that the spraying operator and the gaugeman communicate with each other and give instructions to obtain a lining thickness of a substantially predetermined thickness. On the other hand, when the automatic lining device 8 is used, since the operator is not riding on the gondola device 1, the correction operation for automatically detecting the lining thickness and obtaining the predetermined lining thickness. Must be performed by the automatic lining device 8.

When the traveling speed of the self-propelled carriage 12 that constitutes the automatic lining device 8 and the distance from the spraying nozzle 24 to the target object 2 are constant from the lining material supply capacity of the lining material supply device 9, the example shown in FIG. 3 is shown. As described above, the relationship curve between the traveling speed of the spray nozzle 24 and the lining thickness applied to the inner wall surface of the target object 2 due to the movement of the self-propelled carriage 12 and the lifting operation of the lifting platform 19 can be obtained in advance. The method of concretely managing the construction of the lining thickness using this relational curve is as follows. However, a lining construction procedure for obtaining a predetermined lining thickness will be described with an example of performing spraying twice (two-layer spraying).

4 (a) and (b), the distance between the distance detector 27 for comparison reference provided on the self-propelled carriage 12 and the inner wall surface of the target object 2
_The distance detector 2 provided in the spray nozzle 24 according to _0.
It is assumed that 6 has been positioned and set. At this time, the distance between the spray nozzle 24 and the inner wall surface of the target object 2 is as follows.

Automatic lining work, first, for a given lining thickness T, the distance to the lath member 33 provided on the inner wall surface of the target object 2 - applying a thickness of the lining corresponding to _{(0 1).} Operating conditions of the automatic lining device 8 at this time from the characteristic curve shown in FIG. 3 described above - moving the spray nozzle 24 under the condition V ₁ becomes lining thickness _{(0 1).}

During the actual automatic lining work, as shown in FIG. 4 (b) which is an arrow A view of FIG. 4 (a), a plurality of target construction surfaces are formed in the inner peripheral direction of the inner wall surface of the target object 2. Divide (4th
"L" in the figure (b) is a division unit), each division surface is applied to a predetermined lining thickness, and then it is sequentially transferred to the next target construction surface (in the lining twice blowing) If each spraying time interval is long, the physical properties such as bending, compressive strength and water content of the overlapping portion of the lining material change, resulting in poor quality). Therefore, as shown in FIG. 4, in the automatic lining work of FIG. 1, the vertical stroke of the spray nozzle 24 by the movement of the lift table 19 with respect to the vertical direction of the target object 2 and the circumferential direction. Is lined in the area corresponding to the moving distance L of the self-propelled carriage 12 corresponding to the divided surface.

Note that during the spraying work, the lining material supply amount from the lining material supply device 9 is driven so as to be supplied under a constant condition. However, since the lining material is powder, the lining material is supplied to the inside of the hose. Due to adhesion or the like, the blowing nozzle 24 does not always blow out a fixed amount, and there is a factor that the lining thickness varies, so at a certain time interval,
The distance detector 26 measures the distance ₂ immediately after the lining is applied, and at the same time, the comparison reference distance detector 27 measures the distances ₀ and ₁ at positions outside the surface to be sprayed by the spray nozzle 24. By the arithmetic processing of the detection data of both detectors by the controller, the lining thickness t ₁ at the first time is calculated.
And the measurement position (vertical and circumferential position) at the time of measurement is measured at each measurement point from the signal data of the position detector attached to the drive motors 17 and 13 of the lift 19 and the self-propelled carriage 12. The position and the lining thickness t ₁ at that position are stored in a storage device built in the control device.

As described above, the self-propelled carriage 12 has a distance L corresponding to a predetermined division plane.
When the vehicle runs, the self-propelled carriage 12 stops at the same time, runs at a high speed in the reverse direction, returns to the starting point, and prepares for the second automatic lining work.

On the other hand, from the lining thickness t ₁ at each measurement position in the first lining work measured using the distance detectors 26 and 27 described above to the remaining lining at each measurement position with respect to the predetermined lining thickness T. The thickness amount (T-t ₁ ) is calculated. Further, using the data of the lining thickness (t ₁ ) at each measurement position, the basic characteristic curve shown in FIG.
The correction is made as shown by the broken line in the figure, and the remaining lining thickness (T
The traveling speed V ₂ of the spray nozzle 24 corresponding to −t ₁ ) is calculated. That is, the graph is corrected using the data of the lining sprayed immediately before, and the traveling speed of the spray nozzle 24 for the second lining is determined from the graph.

After the above calculation processing by the control device, the self-propelled carriage 12 and the lift 19 are driven under the driving conditions based on the above calculation processing as in the first time, and the second automatic lining work is performed.

Note that the lining thickness measurement at the first time is performed at a certain time interval, so that the spray nozzles 24 at the respective measurement positions are connected to each other.
Needless to say, the running speed difference is corrected by linearly interpolating the running speed difference.

According to the above method, during the second automatic lining work, the spraying condition is corrected by using the data of the first lining thickness measurement, and therefore, after the second lining construction, almost the predetermined lining work is performed. The lining thickness (T) and the lining cover thickness from the lath material 33 can be obtained almost uniformly and can be automatically performed.

When the lining construction of the distance (L) corresponding to the circumferential division plane is completed, the self-propelled carriage 12 is sequentially positioned at the next division plane start position, and the target object 2 is repeated by repeating the lining construction method described above. Lining is performed over the circumference of the inner wall surface of. Needless to say, the lining spraying condition is repeatedly corrected by correcting the condition based on the lining thickness at the time of the lining work performed last time.

As described above, the distance detector 26, which is mounted on the spray nozzle 24 and measures the distance between the inner wall surface of the target object 2 and the lining construction portion, is provided outside the spray nozzle 24, and the lining is provided during the lining work. By using the distance detector 27 for comparison, which measures the distance from the inner wall surface of the target object 2 that has been removed from the construction portion, the distance is automatically measured continuously or intermittently during the lining work, and comparison is made. Based on the distance measurement data of the reference distance detector 27, the distance measurement data of the lining construction part distance detector 26 immediately after the lining construction is compared and arithmetically processed to automatically measure the measurement position in the construction part and The actual lining thickness at that location can be known. Further, if the substantial lining thickness is known, the remaining sprayed thickness at each measurement position with respect to the predetermined lining thickness which is the construction target can be known. As a result, the above-mentioned substantial relationship under the spraying conditions obtained from the relationship curve between the lining thickness and the spraying nozzle traveling speed, which was obtained in advance by basic tests and experiments, is known. From the relationship curve obtained by correcting the above-mentioned relationship curve by using the substantial relationship, the spraying condition is selected and controlled to change according to the actual lining thickness (remaining spraying thickness) at the previous measurement position. However, by automatically lining, a lining of a substantially predetermined thickness and a uniform thickness is automatically performed over the entire construction surface.

<Effects of the Invention> According to the automatic lining device of the present invention, since the lining work is automatically performed on the inner surface of the high-rise structure, the work efficiency can be improved, the labor can be saved, and the lining thickness can be measured. Since the lining thickness for the next time is controlled, the lining thickness can be made uniform to the target thickness.

[Brief description of drawings]

FIG. 1 is a partially cutaway front view of an embodiment of an automatic lining device according to the present invention, FIG. 2 is an overall schematic view of the embodiment device attached to a high-rise structure, and FIG. 3 is an automatic lining. FIG. 4 (a) and FIG. 4 (b) are explanatory diagrams of lining thickness detection, which are diagrams showing the relationship between the spraying nozzle traveling speed of the device and the lining thickness. In the drawings, 1 is a gondola device, 2 is a target object (high-rise structure), 8 is an automatic lining device, 9 is a lining material supply device, 12 is a self-propelled carriage, 19 is a lifting platform, 20 is an arm, and 23 is a nozzle head. , 24 is a nozzle for spraying a lining material, 26 is a distance detector, 27 is a distance detector for comparison reference, and 29 is a lining material.

 ─────────────────────────────────────────────────── ─── Continued Front Page (72) Inventor Yoshiro Sakai 1-3-1, Uchisaiwaicho, Chiyoda-ku, Tokyo Tokyo Electric Power Company (72) Inventor Kazuhide Yamauchi 2-4-1-4, Uchisaiwaicho, Chiyoda-ku, Tokyo Toden Design Co., Ltd. (72) Inventor Yoshihiro Yuzaki 4-6-22 Kannon Shinmachi, Nishi-ku, Hiroshima City, Hiroshima Prefecture Mitsubishi Heavy Industries Ltd. Hiroshima Research Laboratory (72) Inventor Seiji Horiuchi 4-chome, Kannon Shinmachi, Nishi-ku, Hiroshima Prefecture No. 6-22 Mitsubishi Heavy Industries, Ltd. Hiroshima Research Institute (72) Inventor Noriyuki Kawada 4-6-22 Kannon Shinmachi, Nishi-ku, Hiroshima City, Hiroshima Prefecture Mitsubishi Heavy Industries Ltd. Hiroshima Research Institute (72) Takeji Matsumoto Hiroshima City, Hiroshima Prefecture 4-6-22 Kannon Shinmachi, Nishi-ku Mitsubishi Heavy Industries Ltd. Hiroshima Shipyard (72) Inventor Hiroshi Kondo 4 Kannon Shinmachi, Nishi-ku, Hiroshima-shi, Hiroshima Eye No. 6 No. 22 Mitsubishi Heavy Industries, Ltd. Hiroshima shipyard (56) Reference Patent Sho 52-149648 (JP, A) JP Akira 59-147678 (JP, A)

Claims (1)

[Claims] 1. A device main body is mounted on a pedestal that can move up and down along the inner surface of a high-rise tubular structure so as to run along the inner peripheral surface of the structure, and is directed toward the inner surface of the tubular structure. A nozzle head equipped with a nozzle for injecting lining material can be moved up and down, can be swung, and can be moved forward and backward with respect to the inner surface of the structure, while being installed on the main body of the device, while spraying on the inner surface of the structure. Equipped with a non-contact type distance detector that detects the distance to the inner surface of the structure before and after spraying the lining material to measure the thickness of the lining material, further, the nozzle speed and the lining thickness obtained in advance The nozzle head and the apparatus main body are driven to spray the first lining material based on the relationship, and the nozzle is corrected based on the thickness of the lining material actually sprayed. Automatic lining apparatus characterized by comprising means for driving the nozzle head and the main assembly of the apparatus to perform the spraying of the second lining material based on a relationship between the degree and the lining thickness.