JPH02121773A - In-pipe welding equipment - Google Patents

Abstract

(57) [Abstract] This bulletin contains application data before electronic filing, so abstract data is not recorded.

Description

[Detailed Description of the Invention] The present invention is applicable to ITV cameras, etc. for investigating the inner surface of gas pipes, oil pipes, water and sewage pipes, etc., measuring instruments for investigating pipe wall thickness, etc., and repair welding, etc. This invention relates to a train-type in-pipe welding device that performs welding work, etc. by towing a work cart to a predetermined position inside a pipe by a traveling cart.

[Prior art] Conventionally, as a trolley running in a pipeline,
951, JP 58-214845, JP 59-14
7260, JP-A-60188373 and JP-A-60-1
There are 19446 etc.

In addition, as a towing method when there is a bent pipe in the pipeline,
JP-A-60-140311, JP-A-60-249800
and Utility Model Publication No. 59-125469.

Furthermore, if both ends of the conduit are to be opened, there is a pig method in which air is blown from either end to move the conduit, or a wire is attached to both ends of the trolley, and the wire is wound with a winch at both ends and then returned to move the wire. method is adopted.

[Section WU to be solved] However, although the above-mentioned conventional trolley that travels inside the pipeline can be used satisfactorily when the pipeline is straight, there are curved pipes on the upper side, left and right sides, etc. It cannot be applied to pipelines that

3 as a traction method when there is a bent pipe in the pipeline
The techniques of the first two of them are applicable to curved pipes with a certain radius, but cannot be applied to miter-bend pipes made by connecting short pipes cut diagonally.

In other words, in the case of a curved pipe with a certain radius, JP-A-60-1
Since the inclination of the wheels 3a and s3b shown in FIG. 2 of 40311 is small, the wheels change direction while causing slight slippage between them and the pipe wall. However, for example, if a 90° bent pipe is
In the case of a miter bend pipe made by connecting three 0° cut pipes, the inclination of the pipe axis is approximately 30°. If you want to change the direction of this 30° inclination at once, please use JP-A-60-140.
As shown in FIG. 2 of 311, drive wheels 3a and 3b,
A general wheel such as a tension wheel is considered to be incapable of +1J. In other words, if the small wheel is strongly pressed against the pipe wall surface and the frictional force is used to obtain the driving force, the maximum angle is considered to be about 15°, although it depends on the length of the drive platform. In this case, it is possible to change the direction by weakening the pressing force of the wheels and reducing the frictional force, but in this case, problems arise such as the driving force decreases and the vehicle becomes unable to travel.

The latter technique also suffers from the same disadvantages as the former, and its −
Since it uses an L magnet roller, it cannot be applied to anything other than iron pipes.

Historically, with the pig method and wire method described in Section 1, both ends of the conduit must be left open, resulting in high civil engineering costs. In addition, in the case of the wire method, there are problems such as the bending pipe being worn out or the wire rope breaking due to sliding friction between the wire rope and the inside of the bent pipe (the side that the wire rope comes into contact with).

In addition, with conventional traveling carts, the posture around the pipe axis was not controlled, so the position of the towed work cart around the pipe axis changes, so analysis of the position of the state inside the pipe and the start of welding There were various inconveniences when keeping the position constant.

In addition, with conventional work carts, no special consideration was taken when passing through curved pipes, so when passing through curved pipes, work tools, etc. may come into contact with the inside of the pipe and be damaged. was there.

This invention was made in view of the above-mentioned circumstances, and can be used not only for straight pipes but also for curved pipes such as miter-bend pipes, and the posture of the traveling truck around the pipe axis is always controlled to be constant. It is an object of the present invention to provide an in-pipe welding device that is

[Means for Solving the Problems] The in-pipe welding device of the present invention is a train constructed by connecting a working bogie, etc., which performs polishing of welding parts and welding ``T'' to a traveling bogie that travels in the pipe by drive wheels. type of pipe welding equipment,
The running mold has a frame with a number of < iSj facing forward and backward from the central part of the main body, the base end of which is rotatably mounted on the main body, and a running mold in the frame. A direction control wheel for controlling the attitude of the truck around the tube axis provided at the tip of one of the frames facing in the direction; A drive wheel that is rotatably driven and has a plurality of barrel-shaped rollers along the outer periphery of the wheel so as to be freely rotatable in a direction perpendicular to the running direction, and the drive wheel and direction control wheel are driven forward and backward toward the inner wall of the pipe. The work trolley includes wheels and a fixing device that are provided to be driven forward and backward in the radial direction in the front and back of the main body, and
A rotary pedestal is provided in the middle part of the main body to be rotated, and a work tool is attached to this pedestal so that it can be moved in the tube axis direction and the V radial direction. It is constructed of a working tool that is set so that it retreats close to the center while traveling, and is moved toward the pipe wall during work.

[Function] Driving wheels are provided at the tips of a plurality of frames that are rotatably provided in the front and rear directions on the truck body, and by rotating these frames toward the pipe wall with a cylinder, The drive wheels are pressed against the pipe wall so that the required traction force can be obtained.

A plurality of barrel-shaped rollers are provided along the outer periphery of the drive wheel, and since these rollers can freely rotate in the circumferential direction of the pipe, even when passing through a miter bend pipe section, the barrel-shaped rollers can be rotated freely. Since the roller rotates freely between the tube wall and the tube wall, the tube can pass through without loss of traction force.

In addition, a direction control wheel is provided that is pressed against the tube wall provided at the tip of one of the frames facing the direction of travel, and by controlling the direction of this direction control wheel, the posture of the truck around the tube axis is always maintained. Constantly controlled.

The work cart is pulled to a predetermined position inside the pipe by wheels provided at the front and rear of the main body, and is fixed at that position by a fixing device. While traveling, the arm on which the work tool is attached can be retracted in the radial direction to a position close to the center, and the work tool itself can be retreated close to the center to prevent damage when passing through a curved pipe section. Can be done.

[Example] An embodiment of the present invention will be described below with reference to the drawings.

The train-type in-pipe welding device of the present invention, as shown in FIG. and a coupler 1 are interposed.

An embodiment of the traveling trolley 10 will be described with reference to FIGS. 2 to 4.

The trolley body 11 is a tubular body with a hexagonal cross section, and a base 12 on which a bottle 13 is mounted is fixed to the center of each side. A frame 14.14 having a driving wheel 20 at the tip of the bin 13 faces in the front-rear direction and is colored +1<blue. Among these frames, one frame that faces the same direction in the traveling direction and toward the bottom of the tube] has a direction control wheel 4 at the tip of the frame 4'.
2 is provided.

Connecting hardware 26 is provided at the front and rear of the main body 11, and in this example, the wire reel 2 is connected via a universal joint 27. In addition, in order to prevent the front end 2a of the reel 2 to be connected, as shown in FIG. Conical portion 28a with which the outer circumferential portion abuts
A stopper disc 28 is provided to prevent over-bending. Similar overbending prevention mechanisms are also provided in other connecting parts.

The valley frame 14 is constructed by connecting left and right members 14a and 14b, and a heavy wheel drive motor 15 and a speed reducer 16 are sandwiched between the two members. The power from the motor 15 is transmitted to the reducer 16 via the belt 17, and the output from the reducer is transmitted to the drive wheels 20 via the chain 18.

The drive wheel 20 includes a wheel member in which three barrel-shaped rollers 22 having a curvature forming the outer periphery of the wheel are rotatably pivoted around the axis of the frame 21, and are equally spaced around the frame 21. They are arranged with a 60° phase shift. In this way, the outer peripheral surface of the wheel 20 is covered with six barrel-shaped rollers 22.
The barrel-shaped roller 22 can freely rotate in the circumferential direction of the tube, and can move smoothly in the tube axis direction.

A cylinder 25 is connected at both ends to the main body 11 and each frame 14 via a pin, and the drive wheel 20 is pressed against the inner wall of the pipe.

In this way, even when passing through a miter bend pipe section,
Since the barrel roller 22 freely rotates between the pipe wall and the pipe wall,
It is possible to pass through without causing a large loss in traction force.

Next, a frame 43 is provided to which the two-direction control wheel 42 at the tip end of the attitude control frame 14' is pivotally mounted. The frame 43 and therefore the direction control wheel 42 are controlled to rotate around a vertical axis by a motor 44. A cylinder 25 is also provided between the frame 14' and the main body 11.
is provided, and the direction control wheel 42 is pressed against the inner wall of the pipe.

The main body 11 is provided with a weight type inclinometer 46 for detecting the inclination around the tube axis, and the rotation angle of the motor 44 is controlled by a signal from this inclinometer.

In addition, when the cart passes through a curved pipe section, the output signal of the inclinometer 46 becomes unstable, so an inclinometer 47 is provided to detect the inclination in the direction of the pipe axis, and if this output exceeds a predetermined value, In this case, control by the inclinometer 46 is interrupted.

Historically, a limit switch 45 is provided on the frame 14' to prevent the rotation angle of the frame 43 from exceeding a predetermined value.

In this way, the signal from the inclinometer 46 causes the directional control wheel 42 to
By rotating the directional control wheel 42 around a vertical axis,
The attitude of the cart around the tube axis can be controlled so that it is always at the lowest position.

'', the attitude of the traveling carriage around the tube axis is always controlled to be constant, so that the attitude of, for example, a welding work carriage towed by the traveling carriage around the tube axis is also controlled to be constant. In this way, the welding start position can be set directly above, that is, at the 12 o'clock position, and the welding can be performed downwardly in half-circle increments. Furthermore, since the vertical direction of the cart is always constant, it is easy to analyze the conditions inside the pipe.

A distance meter 48 is provided on the shaft of the control wheel 42 to detect the travel distance of the truck by the rotation of the guide roller 42.

Next, an embodiment of the work trolley 50 will be described with reference to FIGS. 6 to 9 in the case of a welding work trolley.

A pipe-shaped rotary pedestal 61 is rotatably provided in the middle part of the main body 51 which is a tubular main frame. Four frames 52 are provided radially at the front and rear of the main body 51, respectively. A pair of wheels 56 are guided by guides 53 to each frame 52, and motors 54
It is provided so that it moves forward and backward in the radial direction. In this case, four pairs of wheels arranged symmetrically with respect to the tube axis are controlled to advance and retreat in synchrony.

Furthermore, two cylinders serving as fixing devices 57 are provided at the front and rear of the main body 51, facing each other on a line passing through the center, and the cylinder head 58 is brought into contact with the inner wall of the pipe to fix the truck. . Then, the rotating pedestal 61
As shown in the figure, a pinion 62 that meshes with a rack provided around the tubular body 51 is provided on the frame, and by rotationally driving this pinion, the body is rotated around the body.

Connecting hardware 26 is provided at the front and rear of the main frame 51, and a traveling truck or the like is connected to the main frame 51 via a universal joint 27. In addition, in order to prevent excessive bending at the universal joint section and hindrance to running when passing through a bent pipe section, a stopper disk 28, which is part of the above-mentioned over-bending prevention mechanism, is provided. There is.

A tube axis direction bracket 63 is provided on the pedestal 61, and a slider 64 is driven by a motor 65 to move on this bracket in the tube axis direction. A vertical bracket 66 is attached to this slider 64, and a slider 67 is moved radially around this bracket by a motor 69. and,
An arm 68 for attaching a working tool is attached to this slider 67.

A welding torch 7 as a working tool is installed at the center of the lower end of the arm 68.
0 is attached, and a motor 71 causes it to lie down as shown in FIG. 8 while running, and to stand up as shown in FIG. 9 during work.

Further, on both sides of the lower end of the arm 67, a lighting device 74 and a camera 73 are provided for illuminating the welding part.

When traveling, the motor 54 pulls back a pair of wheels 56 symmetrically provided with respect to the tube axis in the radial direction.

In addition, as shown in FIG. 8, the arm 68 is connected to a motor 69 (
(Fig. 6) allows the torch 70 to be retracted near the center.
By lowering the device using the motor 71, all the devices are placed within the circle indicated by the two-dot chain line. In this way, working tools and the like are prevented from coming into contact with the inside of the curved pipe and being damaged when passing through the curved pipe.

On the other hand, during work, the work cart 50 is moved to a predetermined position within the pipe by the traveling cart 10, and the wheels 56 are pushed out, and the head 58 is pushed out by the cylinder 57, which is a fixing device, to fix the cart at a predetermined position. Then, as shown in FIG. 9, the torch 70 is raised up by the motor 7 and the arm 68 is moved so that the torch 70 approaches the tube wall.

In this state, the motor 65 moves the slider 64 in the tube axis direction to align the torch 70 with the welding part, thereby positioning the torch 70. Once the torch 70 is positioned in this manner, the torch is activated and the rotary pedestal 61 is rotated by the pinion 621 to perform welding work. In this case, the welding start position should be set directly above, that is, at 12 on the clock.
o'clock position, move the torch 70 half a turn clockwise and weld downward to the 6 o'clock position, then move the torch 70 half a turn counterclockwise from the 12 o'clock position and weld downward to the 6 o'clock position.
Weld all around.

Next, a polishing cart equipped with a grinder as a working tool will be explained with reference to FIG. 10.11.

This differs from the embodiment described above only in the attachment of the grinder 80 as a working tool to the arm 68. That is, the proximal end of the grinder 80 is rotatably pivoted to the arm 68, and the distal end is retracted by the cylinder 81 to the position shown by the solid line in FIG. It is designed to fit in, and be extended to the position shown by the dashed line during work.

In this case as well, traveling and polishing work can be performed in the same manner as in the above embodiment in which the work tool is a welding torch.

Next, an example of a work procedure for repairing a weld in an existing pipe using this welding device will be described.

In the example shown in FIG. 1, a welding trolley is incorporated as the work trolley 50, but since it is necessary to polish the welded part before welding for boat fishing, it is replaced with a polishing trolley. If the traveling carriage 10 has sufficient traction capacity, a polishing carriage may be incorporated at the same time.

A lighting device, a camera, and the like are installed on the front of the first running cart 10 to detect and observe the welded portion, as well as detect locations such as dresser couplings that the wheels of the cart must overcome.

The polishing cart is positioned at the welding position detected in this manner, and the welded portion is polished by the above-described operation.

Thereafter, the polishing cart is replaced with a welding cart, and welding work is performed according to the above-described procedure.

[Effects of the Invention] The in-pipe welding device of the present invention as described above can run not only on a straight pipe section and a bent pipe section having a certain radius, but also on a miter bend pipe section without any problem. Furthermore, since the posture of the truck around the tube axis is controlled to be constant, it becomes easier to perform various tasks.

Further, the work cart can pass through the bent pipe section without causing equivalent damage to the work equipment.

After fixing the work cart at a predetermined position within the pipe, the work tool can be positioned in the direction of the pipe axis, allowing stable work to be performed.

[Brief explanation of the drawing]

FIG. 1 is an explanatory diagram showing one example of the overall configuration of the device of the present invention, and FIGS. 2 to 4 show an example of the traveling trolley of the invention, FIG. 2 is a side view, and FIG. 3 is a side view. A front view, FIG. 4 is a bottom view of a pair of front and rear frames, FIG. 5 is an explanatory diagram showing an example of an overbending prevention mechanism, and FIGS. 6 and 7 show an embodiment of the work cart of the present invention. A side view and a front view are shown, and FIGS. 8 and 9 are front views showing the positional relationship of the main parts during traveling and work, respectively.
FIGS. 10 and 11 are a side view and a front view of main parts of another embodiment of the work trolley. DESCRIPTION OF SYMBOLS 10... Traveling trolley, 11... Main body, 14... Frame, 14'... Direction control frame, 20... Driving wheel, 22... Barrel type roller, 25... Cylinder,
42... Direction control wheel, 50... Work trolley, 51...
・Main body, 56...Wheel, 57...Fixing device, 61・
...Rotating stand, 68...Arm, 70...Torch,
80...Grinder diagram Figure 8 Figure 8 Figure 8

Claims (1)

[Scope of Claims] A train-type pipe welding device constructed by connecting a working trolley for polishing, welding, etc. of welded parts to a traveling trolley that travels in the pipe by drive wheels, wherein the traveling trolley is a bogie. A plurality of frames facing forward and backward from the central part of the main body, the base end of which is rotatably provided on the main body, and one of the frames that faces the running direction is provided at the tip end of the frame. A direction control wheel that controls the attitude of the bogie around the tube axis, and a rotationally driven drive wheel that is installed at the tip of the frame other than the frame that is equipped with the direction control wheel. The work cart is composed of a plurality of barrel-shaped rollers rotatably installed in a direction perpendicular to the traveling direction, and a cylinder that drives the drive wheels and direction control wheels forward and backward toward the inner wall of the pipe. wheels and a fixing device provided to be driven forward and backward in the radial direction; a rotary pedestal provided in the middle part of the main body to be rotationally driven; An in-pipe welding device consisting of a work tool mounting arm that is installed so as to move the work tool, and a work tool that is installed on this mounting arm so that it is retracted near the center while traveling and is moved toward the pipe wall during work. .