JPH03281164A - Self-running type pipe inner surface polishing and measuring device - Google Patents

Abstract

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

Description

[Detailed Description of the Invention] Industrial Application Field This invention relates to a device for polishing and measuring the inner surface of pipelines such as gas and water pipes, and more specifically, it uses a drive cart system to freely run inside the pipes and perform arbitrary polishing and measurement. This invention relates to a self-propelled tube inner surface polishing/measuring device that enables polishing and measurement at any location.

Conventional technology Inner surface polishing of the welded parts of vibrating pipes such as gas and water pipes, and inner surface measurements such as eddy current flaw detection are generally carried out using an inner surface polishing device or a trolley equipped with the measuring device using a self-propelled trolley system or a towing winch. This is performed using a method using an external drive source.

Among these, the self-propelled trolley system connects a polishing trolley or measuring trolley to a drive trolley equipped with a motor and charges it into the pipe.
The most common method is to push the vehicle forward when moving forward, and tow it when reversing.

The drive vehicle in this system uses a vehicle that can move freely even in curved pipe sections (such as Japanese Utility Model Application Publication No. 59-5841.7), but conventional self-propelled vehicles have a means for supporting the body of the vehicle while traveling. Because all of the rollers are roller-type, the support rollers may fall into pipe wall separations or parts such as sleeve joints in the middle of the piping, causing the cart to stop moving, or may slip if it hits a protrusion such as a plug protrusion. There were problems such as being unable to cross over the pipe, making it impossible to drive, making it impossible to observe the situation inside the pipe, and damaging the inner surface of the pipe.

In addition, the pipe inner surface polishing device is equipped with one or more rotating brushes driven by a motor on a traveling carriage equipped with a traveling mechanism using a motor as a drive source and a fixing mechanism at a predetermined position inside the pipe. A method of polishing by contacting the surface is common, but because conventional polishing carts can only run on straight pipes due to their structure, polishing of the inner surface of the pipe is limited to straight pipe sections, and there are curved pipe sections. It could not be used for polishing the welded parts of the vibration line.

In addition, as an apparatus for measuring the inner surface of a Vibrine pipe, for example, a method is used in which a flaw detection device is installed on a base body that can run inside the pipe, and this base body is inserted into the pipe for flaw detection (Japanese Patent Laid-Open No. 64-2614
(see Publication No. 3) have been proposed, but it has been difficult to apply the conventional in-pipe traveling means to pipelines with curved pipe sections to detect defects in welds in the pipes. .

In addition, as a means of connecting the drive cart and the various equipment loading carts, a connecting bin is generally used, but in this connecting bin method, when each cart passes through a bent pipe section, the connecting section comes into contact with the inner surface of the pipe. Not only is there a risk of damaging the inner surface and cables, but there is also a drawback that the passing performance of the curved pipe portion is poor.

In addition, instead of the connecting bottle method, there is a method of connecting using springs, but springs tend to buckle, and depending on the degree of buckling, the spring may hit the inner surface of the tube, making it impossible to run or damaging the inner surface of the tube. It lacks practicality due to the following problems.

Problems to be Solved by the Invention The present invention solves the problems of conventional roller-type self-propelled carts, namely, the inability of the cart to run and damage to the inner surface of pipes caused by the support rollers of the driving cart, and improves the ability of piping lines to It is possible to run smoothly without any trouble regardless of the presence of obstacles such as isolated parts or uneven parts, and it is also possible to perform measurements such as polishing or flaw detection of welded parts of pipelines with curved pipe parts. Furthermore, it is an object of the present invention to provide a self-propelled tube inner surface polishing/measuring device that has good ability to pass through blood vessels, and that uses a connecting means in which the distance between the devices is always kept constant so that buckling does not occur.

Means for Solving the Problems The self-propelled tube inner surface polishing/measuring device according to the present invention has a drive truck that adopts a chain caterpillar system as a traveling means of the truck, and can run freely and stably even on curved pipe sections. By using a polishing device constructed with a cylindrical casing structure and a cylindrical joint made of nylon sling that has good passage performance through the curved pipe and does not cause buckling, all of the problems of the conventional devices described above have been solved. be.

That is, the gist of the present invention is a tube inner surface inspection/measuring device comprising a plurality of driving carts, a tube inner surface polishing device, a tube inner surface measuring device, or the tube inner surface polishing device and the tube inner surface measuring device, wherein the driving cart is A pair of chain caterpillars arranged in a bifurcated manner in the same plane perpendicular to the tube axis and movable in the tube radial direction by means of elastic support means that applies an outward force; A caterpillar drive motor provided integrally with the caterpillar, a rotation transmission mechanism and a differential mechanism of the drive motor, and a guide roller provided at the end, the chain caterpillar traveling in pressure contact with the inner surface of the tube, The driving cart and the tube inner surface polishing device, the driving cart and the tube inner surface measuring device, or the tube inner surface polishing device and the tube inner surface measuring device are each connected via a joint, and the tube inner surface polishing device is installed on the outer periphery. The main body of the device is constructed by connecting two cylindrical casings with a connecting shaft, which are movable in the pipe via a guide roller and are equipped with a guide roller with a diameter expanding mechanism for fixing in the pipe.
A plurality of rotating cylinders arranged radially are attached to the connecting shaft of the device main body so as to rotate together with the connecting shaft, and a low insertion body is inserted into and out of the cylinder so as to rotate integrally with the rotation cylinder. a cup wire brush with a diameter-expanding mechanism, a mechanism for rotating the brush itself within the rotary cylinder, a diameter-expanding mechanism for the cup-wire brush that is interlocked with the diameter-expanding mechanism of the guide roller with the diameter-expanding mechanism, and a television for projecting an image of the abrasive part. It has a structure equipped with a camera, and as a connecting means, a plurality of iron cores having almost the same length as the cylinder are built into the peripheral wall of a cylinder made of a flat cloth belt such as a nylon sling, The gist of the present invention is to use a cylindrical joint having connection belts formed by extending the core insertion portion at both open ends of the cylindrical body.

Operation The drive truck has a drive motor at its center and a pair of forked chain caterpillars supported on the outside by elastic support means such as springs.The drive motor is positioned at the center of the pipe, and the chain caterpillars It contacts the surface with appropriate pressure and travels inside the pipe by the drive of the caterpillar.

When the drive truck passes through the bent pipe section, the difference in rotation between the inner chain caterpillar and the outer chain caterpillar is absorbed by the differential and the drive vehicle runs smoothly.

Since the chain caterpillar has an appropriate length in the tube axis direction, it can smoothly pass through tube separations, recesses, and stepped portions in the tube, and can also pass over convex portions such as plug protrusions and weld beads.

Chain caterpillars have a larger contact area with the inner surface of the tube than rollers, so they run more stably inside the tube.

Even if one drive carriage slips in a large tube separation part of a sleeve joint, the tube can easily pass through the tube separation part by the traction or pushing force of the other drive carriage.

The pipe inner surface polishing device has two types of idle rollers in a cylindrical casing, fixed type and movable type.The fixed type has multiple rollers fixed to the outer periphery so that they can pass smoothly even in curved pipes. The movable type consists of a row of guide rollers, and the movable type has a diameter expansion mechanism that is operated via a link mechanism etc. by the power of a motor etc. to have the function of fixing the umbrella body inside the pipe. It consists of a guide roller with

The main body of the tube inner surface polishing device is made up of a pair of casings connected at a predetermined distance by a connecting shaft placed in the center of the casing, and a cup wire brush rotation and revolution mechanism and diameter expansion mechanism are attached to this connecting shaft. mechanism is installed.

The iron core of the connecting joint is made of iron or steel plate, has a rectangular shape, and its length is determined according to the spacing between the devices.

The part where the iron core is inserted is made of two overlapping flat belts made of cloth such as nylon slings, the iron core is sandwiched between the two flat belts, and the four sides are sewn and fixed.

The iron cores are arranged at equal intervals on the circumferential wall of the cylinder, and the side between the iron cores is made up of one flat belt, and a two-layered core insertion part is further installed at both open ends of the cylinder in the axial direction. A connecting belt is formed by stretching the belt, and a fastening bolt hole is formed at the tip of the belt.

0- When connecting devices, fasten the ends of the connecting belts protruding from both ends to the front and rear ends of the devices with bolts, etc.

Signal cable lines, etc. between each device are routed through the cylindrical joint.

When connected devices approach each other, a predetermined distance is maintained by the plurality of iron cores built into the cylindrical joint, so that the devices do not collide with each other, and the joint does not buckle.

When the device passes through the bent pipe section, it bends while maintaining a constant distance due to the action of the connecting belt section of the joint.
The core insertion part does not come into contact with the inner surface of the tube and impede its passage, and since the joint itself is made of nylon sling and the core is built-in, it passes smoothly without damaging the inner surface of the tube.

Embodiment FIG. 1 is a side view of an in-pipe drive truck according to the present invention, FIG. 2 is a front view of the same truck, FIG. 3 is an enlarged sectional view showing the structure from the drive motor to the differential, and FIG. 4 5 is an enlarged longitudinal sectional view showing the structure of the differential, FIG. 5 is a longitudinal sectional side view showing an example of a tube inner surface polishing device, FIG. 6 is a longitudinal sectional front view showing an example of a tube inner surface eddy current flaw detection device, and FIG. A side view showing the connecting joint in the invention, FIG. 8 is an enlarged longitudinal sectional front view taken along the line ■-■ in FIG. FIG. 10 is a side view showing an example of the device with some parts omitted; FIG. The figure shows the same drive truck as above.

FIG. 2 is a side view, with some parts omitted, showing an example of a self-propelled tube inner surface polishing/measuring device configured using two units, front and rear.

In Figures 1 to 4, (1) is a pair of chain caterpillars arranged in a forked manner in the same plane perpendicular to the tube axis, and this chain caterpillar is connected to a differential gear box (
The gearbox (2) is pivotally attached to the tips of a pair of arms (3) that are attached to sandwich the gearbox (2) so as to be rotatable about a driven shaft of a differential, which will be described later, that protrudes from both sides of the gearbox (2).

This chain caterpillar has a structure in which a plurality of chain wheels (5) are attached to a pair of left and right side plates (4), and a chain (6) is hung on the chain wheels. One end of the side plate (4) of this chain wheel is pivotally attached to the tip of the pair of arms (3), and a telescopic rod fitted with a pressing spring is provided between the side plate (4) and the frame of a drive motor (8), which will be described later. This is supported by (7).

(8) is a drive motor for rotating the chain caterpillar (1) in forward and reverse directions, and each is fixed to the frame (9). The compression spring fitting telescopic rod (7) is fixed between the bracket (10) provided on the motor mounting frame (9) and the bracket (11) attached to the side plate (4) of the chain caterpillar. be.

As shown in FIGS. 3 and 4, the rotation of the drive motor (8) is transmitted to the gears v, , v, , v, , v, and the gear V
It is transmitted from the worm Vs coaxial with worm wheel V6 to the chain wheel (14) fixed to the driven shaft (13) of the differential (12) installed in this worm wheel V6, and then to the chain wheel (14) fixed to the driven shaft (13) of the differential (12) installed in the worm wheel V6. It is transmitted to the chain caterpillar via a belt (15).

In addition, since the pair of chain caterpillars (1) must rotate in the same direction, one chain caterpillar is equipped with a chain belt direction changing gear (16) (
It is a mechanism in which rotation is transmitted through the shafts (Figs. 1 and 2).

As shown in Fig. 4, the differential (12) is composed of four bevel gears, with driven shafts (13) directly connected to the pair of opposing bevel gears. The mechanism is such that the bevel gear rotates when the balance of forces becomes uneven.

(17) is a guide roller attached in the pipe diameter direction, and is attached radially to the front and rear differential gear boxes (2).

Note that the chain caterpillar may be divided into multiple parts in the longitudinal direction, or a wear-resistant material such as urethane may be pasted on the surface to prevent wear due to contact with the inner surface of the tube.Furthermore, it is also possible to use a non-metallic chain caterpillar. It is.

14 As shown in FIG.
21-3), the main body of the device (21) is connected to the outer circumference of the casing. Fixed guide rollers installed at J intervals (
22), a guide roller with a diameter expanding mechanism (23), which also has stripes spaced at intervals of 120 degrees on the outer periphery of the casing, a wire brush rotating cylinder (24), and a cup wire brush (25).
, a television camera (26), a polishing motor (Ml), a guide collar diameter expansion motor (M2), and a wire brush diameter expansion motor (M3).

Here, the fixed guide roller (22) includes a plurality of rollers (22-2) between a pair of parallel side plates (22-1).
are rotatably mounted on a shaft, and each is attached to the casing via a support leg (22-3).

The guide rollers (23) with a diameter expanding mechanism include, for example, a pair of rollers (2
3-3) and installed the threaded rod (23-4) horizontally between the partition wall (21-5) and the front wall (21-4) in the casing.
The slide rod (23-2
) is pivotally mounted, and the slide rod (23-2) is actuated in the radial direction by the back and forth movement of the disc (23-5), and the threaded rod (23-4) is attached to the partition wall (21) in the casing.
-5) is a mechanism driven by a guide roller diameter expanding motor (M) via a gear (not shown).

The disc (23-5) is slidably supported on the connecting shaft (21-3) in order to stabilize the operation and prevent rattling.

The rotation and revolution mechanism of the wire brush consists of a connecting shaft (21-
3) is rotatably fitted to the outside via a bearing (28), and has, for example, a 120 degree stripe spacing set thereon.
Polishing drive motor (Ml) installed on the bulkhead (21-5)
The leg part (25-1> of the cup wire brush (25) is rotated and A bevel gear (31) is slidably fitted and attached to the end of the central shaft (30) of the brush leg (25-1), and a bevel gear (3) is provided integrally with the connecting shirt l-(21-3).
2), and at the same time as the rotating cylinder (24) rotates (revolutions), the central shaft (3o) and the wire brush leg (25-1) are integrated via the bevel gear (31) and bevel gear (32). It has a mechanism that rotates (rotates).

Further, the diameter expanding mechanism of the cup wire brush (25) includes a concave groove (2) formed on the outer periphery of the leg portion (25-1) of the brush.
5-2), there is a long hole (25) provided in the side wall of the rotating cylinder (4).
The other end of the two-pronged link (34) with the bushing (33) that is loosely fitted through the connecting shaft (21-3) is connected to the connecting shaft (21-3).
), which is pivotally connected to a movable body (35) slidably fitted on the outside.
One end of a threaded rod (36) installed horizontally through the front wall (21-4) and the partition wall (21-5) is connected to the movable body (35), and a screw rod (37) is screwed to the other end. The threaded rod (36) moves back and forth by being rotated by the wire brush diameter expansion motor (M,) via a gear (not shown), and the movable body (35) integrated with this threaded rod and the link (
The leg portion (25-1) of the cup wire brush (25) slides in the tube diameter direction inside the rotary cylinder (24) via the cup wire brush (34) and the bush (33). 25) is a spring (25) fitted inside the leg (25-1).
-4) is pressed against the tube wall through 7-.

The TV camera (26) is attached to one casing (21-1)
The lens barrel (26 mm) is attached to the rear part of the lens barrel (26
-1) is installed protrudingly.

In the above device, the guide roller (23) with a diameter expanding mechanism is reduced in diameter while traveling in the pipe, and when located at the polishing location, the guide roller is expanded in diameter to fix the entire device at the center of the pipe.

Next, the wire brush diameter expansion motor (M3) is driven to bring the cup wire brush (25) into contact with the inner wall of the tube, and then the polishing motor (Ml) is driven to rotate the rotating cylinder (24).
Rotate to perform polishing.

When polishing is completed, the device is fixed by pressing the cup wire brush (25) against the inner wall of the pipe, and the fixing guide roller (23-3) of the casing (21-1) on which the TV camera (26) is attached is retracted. Polishing motor (Ml) in the diameter state
By driving the casing (21-1) to rotate the casing (21-1), the polishing state can be observed over the entire circumference.

8- The tube inner surface eddy current flaw detection device exemplified as a tube inner surface measurement device is
As shown in Figure 6, the conical casing (41-1
) (41-2), and fixed guide rollers (42) provided at equal intervals on the outer circumference of the casing.
, guide rollers (43) with a diameter expanding mechanism provided, for example, in three sets at 120 degree intervals on the outer periphery of the casing, and a rotating shaft (43).
4) and a scanning device (45).

The scanning device (45) includes a stand (45-1), a scanner (
45-3), a scanner drive motor (45-4), a sensor (45-7), and a Teflon plate (45-10).

The fixed guide roller (42) has a pair of parallel side plates (
A plurality of rollers (42-2) are rotatably mounted between the support legs (42-1).
) is attached to the casing via.

The guide roller with a diameter expanding mechanism (43) is a slide rod (
For example, a movable base (43-4) is attached with a pair of rollers (43-2) to 43-1) and is screwed onto a screw shaft (43-3) installed horizontally in the casing so as to be movable in the tube axis direction. A mechanism in which the slide rod (43 ()) is pivotally connected via a link (43-5), and the slide rod (43-1) is operated in the pipe radial direction by the back and forth movement of the movable base (43-4). , the screw shaft (4:3-3) is connected to the motor (
43-6) via a gear (43-7).

The movable base (43-4) is slidably supported on the rotating shaft (44) in order to stabilize the operation and prevent wobbling.

The rotating shaft (44) is rotated by a motor (44-1) provided within one casing (41-1).

Scanning device (45) consisting of flaw detection scanner, sensor, etc.
) is connected to the scanner (45-3) via a guide rod (45-2) to a stand (45-1) fixed to a rotating shaft (44).
) and the drive motor (
The scanner is actuated in the radial direction by a screw shaft (45-6) driven by a gear (45-5) in the tube (45-4).

The flaw detection sensor (45-11) attached to the scanner (45-3) and moving left and right is attached to the scanner (45-3).
3) Screw the flaw detection sensor holder (45-7) onto the screw shaft (45-8) installed horizontally inside the scanner, and use the motor (45-9) attached to the scanner to tighten the screw shaft (45-8). It is a mechanism that rotates. The sensor is held in a holder with a spring and is always pressed against the tube wall.

Both ends of the Teflon plate (45-10) are bent at right angles and the parts are screwed to the scanner (45-3).
The sensor (45-11) slides left and right on this.

In the above device, the diameter of the guide roller (43) with a diameter expanding mechanism is reduced while traveling in the pipe, and when the device is located at the measurement location, the guide roller is expanded in diameter to fix the entire device.

When performing flaw detection, use the scanner drive motor (45-4
), move the scanner (45-3) to the surface to be inspected, and with the Teflon plate (45-10) in contact with the surface to be inspected, move the flaw detection sensor (45-11) left and right on the Teflon plate. to scan.

When changing the measurement point in the circumferential direction, position the entire scanning device by rotating it around the rotation axis using the rotation axis drive 1 motor (44-1), and perform flaw detection by operating it in the same manner as above at the relevant position. .

The joint (50) connecting the drive cart and the tube inner surface flaw detection device or the tube inner surface measuring device can have a structure shown in FIGS. 7 and 8. Here, an example will be explained in which a nylon sling is used for the flat belt and four iron cores are used.

The structure of the joint body consists of two nylon slings (50-1) (50-2) in which the iron core is inserted, and a steel core (50-4) of a specified length is inserted between them. Lay them on top of each other like a sandwich, and place nylon slings (without iron core) on both sides of this part that are approximately the same length as the iron core.
50-3) overlapping the ends of three nylon slings (
50-1) (50-2) (50-3) are sutured to fix the iron core (50-4).

In this way, both ends of the two nylon slings (50-1) (50-2) containing the same iron core as described above and the nylon sling (50-3) without an iron core are sewn together, and the cross section is six. Form a square cylinder.

22 Two nylon slings (50-1) (50-2
) will protrude, so attach this part to the connecting belt.
Used as (50-5). A fastening bolt hole (50-6) is provided at the tip of this belt.

The self-propelled tube inner surface polishing device shown in FIG. 9 is constructed by connecting the driving cart (111) before and after the tube inner surface polishing device (211) via the cylindrical joint (50). .

The self-propelled tube inner surface measuring device shown in FIG. 10 is constructed by connecting a driving cart (111) before and after a tube inner surface measuring device (444) such as the above-mentioned eddy current flaw detection device via a cylindrical joint (50). are doing.

The self-propelled tube inner surface polishing and measuring device shown in FIG. 11 connects the tube inner surface polishing device (211) and the tube inner surface measuring device (444) via a cylindrical joint (50), and It is constructed by connecting drive carts (111).

In this case, if a cylindrical joint (50) is used to connect the driving cart and each device, connect the tips of the plurality of connection bells (50-5) protruding from both ends of the cylindrical joint (50) to each other. Fasten with a bolt to the end of the

Therefore, the driving truck (111) and the tube inner surface polishing device (2
11) or a driving cart and pipe inner surface measuring device (444)
), or even if the tube inner surface polishing device (211) and the tube inner surface measuring device (444) approach each other, the four iron cores (52) inserted at equal intervals on the peripheral wall of the cylinder act as stoppers to prevent collision. The predetermined spacing is maintained because there is no bending or buckling.

Furthermore, even when passing through a curved pipe section, the iron core maintains a constant spacing, and even if it comes into contact with the inner surface of the tube, it is made of nylon sling, so it can pass smoothly without damaging the inner surface of the tube. .

Effects of the Invention As described above, the tube drive truck according to the present invention is composed of a drive motor and a chain caterpillar arranged in a fork shape around the motor, so that the tube separation part in the tube, Can smoothly pass through recesses, steps, etc.
Moreover, it is possible to smoothly move over convex parts such as plug protrusions and weld beads.

In addition, since it is relatively simple and compact in structure, it is advantageous in terms of cost, and it is not heavy enough to require the use of a crane, making it easy to handle and transport. It can be done easily.

In addition, chain caterpillars have a larger contact area with the inner surface of the tube than rollers, and the drive cart itself is small, allowing for good passage through bends and other curved tube sections even when multiple units are connected. Passability through the separation part is good, furthermore, it is possible to travel in the vertical direction, and a large driving force can be obtained, so even a heavy device can be towed or pushed.

In this way, the pipe drive cart can smoothly and stably run pipe inner surface imaging devices, inspection devices equipped with various sensors, pipe inner surface polishing devices, etc., even in long pipes including buried pipes and curved pipes. It has superior performance and maneuverability compared to conventional roller-supported tow trucks.

In addition, the pipe inner surface polishing device is designed so that the main body of the device can move smoothly even in curved pipe sections.5 Therefore, it can move freely inside the pipe regardless of whether it is driven by a traction system or a driven cart system. It can be moved easily and quickly located at the polishing location, and
By the action of the guide roller with a diameter expanding mechanism, the main body of the apparatus can be positioned at the center of the tube axis and polishing can be performed.

In addition, since the cup wire brush has not only an autorotation and revolution mechanism but also a diameter expansion mechanism, the cup wire brush can be moved away from the inner surface of the pipe while traveling inside the pipe, allowing it to pass smoothly even through curved pipe sections. In addition, since the brush has the function of being pressed against the inner wall of the pipe by a spring, it can follow even if there is some eccentricity and perform polishing.

Furthermore, it is equipped with a television camera for photographing the polishing section.
It is easy to observe the polishing situation and confirm the polishing position, and it is possible to polish with high precision.

Furthermore, since the joint according to the present invention is a cylindrical joint constructed by inserting a plurality of iron cores into the peripheral wall of a cylindrical body made of a cloth flat belt such as a nylon sling, compressive force in the tube axis direction is applied to the joint. Even if the device is used, it will not buckle, it will be possible to maintain a predetermined distance, and it will be possible to avoid collisions between the devices.

In addition, even in curved pipe sections, not only is the iron core always maintaining a constant spacing, but the flat belt made of cloth such as nylon slings allows for smooth passage without damaging the inner surface of the pipe. is also excellent.

In addition, signal cables are also routed through the cylinder, so they will not be damaged.

Furthermore, the material provides sufficient tensile strength and is highly durable without breaking or breaking during running, so stable running can be expected.

[Brief explanation of the drawing]

FIG. 1 is a side view of the tube drive truck according to the present invention, FIG. 2 is a front view of the same truck, FIG. 3 is a longitudinal side view of the drive motor showing an example of a tube inner surface polishing device, and FIG. 6 is a tube vortex flow. FIG. 7 is a side view showing a coupling joint according to the present invention; FIG. 8 is an enlarged longitudinal sectional front view taken along the line ■-■ in FIG. 7; FIG. Fig. 10 is a side view showing an example of a self-propelled pipe inner surface polishing device constructed using two front and rear drive carts, and Fig. 10 shows an example of a self-propelled pipe inner surface measuring device constructed using two front and rear drive carts. FIG. 11 is a side view showing an example of a self-propelled tube inner surface polishing/measuring device configured using two drive carts, front and rear. 1...Chain caterpillar 7...Telescopic rod 12...Differential 14...Chain wheel 17...Guide roller 21-1.21-2...Casing 21-3...Connection shaft 22... - Fixed guide roller 23...Guide roller with diameter expansion mechanism 24...Wire brush rotating cylinder 25...Cup wire brush 26...TV camera 3...Arm 8...Drive motor 13... Driven shaft 16...direction conversion gear 21...polishing device main body 41...eddy current flaw detection device main body 45...scanning device 111...driving cart 211...pipe inner surface polishing device 444...pipe inner surface measurement Device 0 ・Joint

Claims (1)

[Scope of Claims] A tube inner surface inspection/measuring device comprising a plurality of driving carts, a traveling tube inner surface polishing device, a tube inner surface measuring device, or the tube inner surface polishing device and the tube inner surface measuring device, wherein the drive The truck consists of a pair of chain caterpillars which are disposed in a bifurcated manner in the same plane orthogonal to the pipe axis and are movable in the pipe radial direction by means of an elastic support means that applies an outward force. a caterpillar drive motor disposed integrally with the caterpillar, a rotation transmission mechanism and a differential mechanism of the drive motor, and a guide roller attached to an end thereof, the mechanism in which the chain caterpillar runs in pressure contact with the inner surface of the pipe; None, a self-propelled type characterized in that the driving cart and the tube inner surface polishing device, the driving cart and the tube inner surface measuring device, or the tube inner surface polishing device and the tube inner surface measuring device are each connected via a joint. Pipe inner surface polishing and measuring device. The pipe inner surface polishing device consists of two cylindrical casings that are movable inside the pipe via guide rollers installed on the outer periphery and equipped with a guide roller with a diameter expanding mechanism to fix the pipe at a predetermined position inside the pipe. a plurality of radially arranged rotating cylinders, which are connected together to form a device main body, and are attached to the connection shaft of the device main body so as to rotate integrally therewith;
A cup wire brush that is removably inserted into the rotary cylinder so as to rotate integrally with the rotary cylinder, a mechanism for rotating the brush itself within the rotary cylinder, and a diameter expansion of the guide roller with the diameter expansion mechanism. 2. The self-propelled tube inner surface polishing/measuring device according to claim 1, further comprising a cup wire brush diameter expanding mechanism interlocked with the mechanism, and a television camera for projecting an image of the polishing section. A joint is a cylindrical body made of a flat belt made of cloth such as a nylon sling, and a plurality of iron cores having approximately the same length as the cylindrical body are built into the cylindrical body at equal intervals, and both open ends of the cylindrical body are connected to each other. 2. The self-propelled tube inner surface polishing and measuring device according to claim 1, comprising a cylindrical joint having a connecting belt formed by extending the core insertion side.