JPH0518667B2 - - Google Patents

Description

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

[Conventional technology] Conventionally, as a trolley that runs inside a pipeline,
-92951, JP-A-58-214845, JP-A-59-147260,
There are Utility Model Publication No. 60-188373 and Japanese Patent Application Publication No. 60-119446.

Further, as a method of towing when a bent pipe is present in the conduit, there are Japanese Patent Application Laid-open Nos. 60-140311, 60-249800, and Japanese Utility Model Application No. 50-125469.

Furthermore, if both ends of the pipe are opened, a pig method in which air is blown from either end to move the pipe,
A wire method is used in which wires are attached to both ends of the trolley, and the wires are wound using winches at both ends and then returned and moved.

[Issue to be solved] However, although the above-mentioned conventional trolleys that run in pipes can be fully used when the pipe is straight, there are bends in the pipes, such as vertically, horizontally, etc. Not applicable to pipelines.

The first two of the above three methods of pulling when a curved pipe exists in the conduit can be applied to a curved pipe with a certain radius, but it is not possible to connect a short pipe cut diagonally. It cannot be applied to miter bent pipes manufactured by

In other words, in the case of a curved pipe with a certain radius,
Since the inclination of the wheels 3a and 3b shown in FIG. 2 of 60-140311 is small, the wheels change direction while causing slight slippage between them and the pipe wall. However, for example,
In the case of a miter bend pipe made by connecting three 90° bent pipes with three 30° cut pipes, the pipe axis tilt is approximately 30°.
becomes. When changing the direction of this 30° inclination at once, as shown in Figure 2 of JP-A-60-140311,
It is thought that this would be impossible with general wheels such as the drive wheels and tension wheels shown in 3a and 3b. In other words, if the wheels are strongly pressed against the pipe wall surface and the frictional force is used to obtain driving force, the maximum angle is about 15 degrees, depending on the length of the drive cart. In this case, although it is operationally possible to change the direction by weakening the pressing force of the wheels and reducing the frictional force, in this case, problems arise such as the driving force decreases and the vehicle becomes unable to travel.

Moreover, the latter technique also has the same disadvantages as the former,
Furthermore, since it uses a magnetic roller, it cannot be applied to anything other than iron pipes.

Furthermore, in the above-mentioned pig method and wire method, both ends of the conduit must be left open, resulting in high civil engineering costs. In addition, in the case of the wire method, the bending pipe may wear out due to sliding friction between the inside of the bent pipe (the side that the wire rope contacts) and the wire rope.
Alternatively, there are problems such as the wire rope breaking.

In addition, in conventional traveling carts, there was no control of the posture around the tube axis, so the position of the towed work cart around the tube axis changes.
Various inconveniences occurred when analyzing the position within the pipe and when making the welding start position constant.

In addition, with conventional work carts, no special consideration was given to the case when passing through a curved pipe section, so when passing through a curved pipe section, working tools etc. may come into contact with the inside of the curved pipe and be damaged. It was hot.

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-type welding device constructed by connecting a working bogie for polishing, welding, etc. of welded parts to a traveling bogie that travels in the pipe by driving wheels. In the pipe welding device, the traveling cart includes a plurality of frames facing forward and backward, respectively, from the center of the cart body, the base ends of which are rotatably provided on the main body, and a plurality of frames that run in the frames. A direction control wheel that controls the attitude of the truck around the tube axis, which is provided at the tip of one of the frames facing the direction, and a rotational drive provided at the tip of the frame other than the frame that is equipped with the direction control wheel. With the drive wheel being
The work trolley is composed of a plurality of barrel-shaped rollers provided along the outer periphery of the wheels so as to be freely rotatable 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. The system includes wheels and a fixing device installed so as to be driven forward and backward in the radial direction before and after the main body, a rotary stand installed in the middle part of the main body so as to be driven in rotation, and It consists of a work implement attachment arm provided to be moved in the radial direction, and a work implement installed on this attachment arm so as to be retracted near the center while traveling and to be moved toward the pipe wall during work. It is something that

[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 main body of the truck, and by rotating these frames toward the pipe wall with a cylinder, the driving wheels is pressed against the tube wall, so the required traction force can be obtained.

A plurality of barrel-shaped rollers are provided along the outer periphery of the drive wheel, and these rollers can freely rotate in the circumferential direction of the pipe, so 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 to which the work implement is attached can be retracted radially to a position close to the center, and the work implement itself can be retreated close to the center, thereby preventing damage when passing through the bent pipe section.

[Example] Hereinafter, an example of the present invention will be described with reference to the drawings.

The train-type in-pipe welding device of the present invention includes, for example, a first
As shown in the figure, a welding cart 50 and a control cart 5 are connected between front and rear traveling carts 10, and a wire reel 2 and a coupler 1 are interposed between these carts.

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 having a pin 13 is fixed to the center of each side thereof. Frames 14, 14 having drive wheels 20 at their tips are pivoted to the pin 13 so as to face in the front-rear direction. Among these frames, a direction control wheel 42 is provided at the tip of one frame 14' facing in the traveling direction and toward the bottom of the tube.

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. A stopper disk 28 is provided with a conical portion 28a against which the outer periphery abuts to prevent over-bending. Similar overbending prevention mechanisms are also provided in other connecting parts.

Each frame 14 includes left and right members 14a and 14b.
A wheel drive motor 15 and a speed reducer 16 are sandwiched between both 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 barrel-shaped roller 2 having a curvature forming the outer periphery of the wheel around the frame 21.
2, which is rotatably pivoted around its axis, and is constructed by stacking three equally spaced wheel members with a 60° phase shift. In this way, the outer peripheral surface of the wheel 20 is formed by the six barrel-shaped rollers 22, and can move smoothly in the axial direction of the tube, and the barrel-shaped rollers 22 can freely rotate in the circumferential direction of the tube. ing.

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

In this way, even when passing through a miter bend curved pipe section, the barrel-shaped rollers 22 freely rotate between themselves and the pipe wall, so that the pipe can pass through without causing a large loss in traction force.

Next, a frame 43 to which the direction control wheel 42 is pivotally attached is provided at the tip of the attitude control frame 14'. This frame 43 and therefore the direction control wheel 4
2 is adapted to be rotationally controlled around a vertical axis by a motor 44. And frame 14'
A cylinder 25 is also provided between and the main body 11,
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, the control by the inclinometer 46 is interrupted.
Furthermore, 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, by rotating the direction control wheel 42 around the vertical axis based on the signal from the inclinometer 46,
The posture of the truck around the tube axis can be controlled so that the direction control wheel 42 is always at the lowest position.

As a result of the above, since the attitude of the traveling carriage around the tube axis is always controlled to be constant, 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 welding can be performed downward in half-circle increments. Furthermore, since the vertical direction of the cart is always constant, it is easy to analyze the condition inside the pipe.

Note that the rotation of the guide roller 42 causes the distance meter 48 for detecting the traveling distance of the trolley to be connected to the control wheel 42.
It is installed on the axis of

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 rotating pedestal 61 is rotatably provided in the middle of a tubular main frame that is the main body 51 . Four frames 52 are provided radially at the front and rear of the main body 51, respectively. A pair of wheels 56 are provided on each frame 52 so as to be guided by a guide 53 and moved forward and backward in the radial direction by a motor 54. in this case,
Four sets of wheels arranged symmetrically with respect to the tube axis are controlled to advance and retreat in synchrony.
Further, 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 cart. . As shown in FIG. 9, the rotating pedestal 61 is provided with a pinion 62 provided around the tubular body 51 that easily meshes with the pedestal, and by rotationally driving this pinion, the rotating pedestal 61 is rotated around the main body. It is becoming more and more common.

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

A tube axial 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 axial direction. A vertical bracket 66 is attached to this slider 64, and a slider 67 is moved in the radial direction on this bracket by a motor 69. An arm 68 to which a working tool is attached is attached to the slider 67.

A welding torch 70 as a working tool is attached to the center of the lower end of the arm 68, and is controlled by a motor 71 so that it lies down as shown in FIG. 8 while traveling and stands up as shown in FIG. 9 during work. It's summery. 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. Further, as shown in FIG. 8, by retracting the arm 68 near the center by the motor 69 (FIG. 6) and lowering the torch 70 by the motor 71, each device is placed within the circle indicated by the two-dot chain line. Contain everything. 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
At the same time, the cylinder 57 which is a fixing device
The head 58 is pushed out to secure the truck in place. Then, as shown in FIG. 9, the torch 70 is erected by the motor 71, and the torch 70 is
The arm 68 is moved so that it 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 way, the torch is activated and the rotating mount 61 is moved to the pinion 6.
2 to perform welding work. in this case,
The welding start position is directly above, that is, the 12 o'clock position, and the torch 70 is rotated half a circle clockwise until it reaches the 6 o'clock position, welding is performed downward, and then from the 12 o'clock position, it is rotated half a circle counterclockwise. Weld downward to the 6 o'clock position and weld the entire circumference.

Next, a polishing cart equipped with a grinder as a working tool will be explained with reference to FIGS. 10 and 11.
This differs from the above-mentioned embodiment only in the manner in which the grinder 80 as a working tool is attached 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 dash-dotted 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 cart is incorporated as the work cart 50, but since it is generally necessary to polish the welded portion prior to welding, it is replaced with a polishing cart. If the traveling carriage 10 has sufficient traction capacity, a polishing carriage may be incorporated at the same time.

A lighting device, a camera, etc. are installed on the front of the first traveling bogie 10 to detect and observe the welded part, as well as to detect locations such as dresser couplings that the wheels of the bogie 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 is as described above, and can be applied not only to straight pipe sections and curved pipe sections having a certain radius, but also to
You can run through the miter bend pipe section without any problems. 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 portion without causing any damage to the work equipment.
After fixing the work trolley at a predetermined position inside the pipe,
Stable work can be performed by positioning the work tool in the direction of the tube axis.

[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.
Examples are shown. Figure 2 is a side view, Figure 3 is a front view, Figure 4 is a bottom view of a pair of front and rear frames, and Figure 5 is a bottom view of a pair of front and rear frames.
The figure is an explanatory view showing one example of the overbending prevention mechanism, FIGS. 6 and 7 are side and front views showing one embodiment of the work trolley of the present invention, and FIGS. 8 and 9 are main parts, respectively. A front view showing the positional relationship during running and work,
FIGS. 10 and 11 are a side view and a front view of another embodiment of the work trolley. 10... Traveling trolley, 11... Main body, 14... Frame, 14'... Direction control frame, 20...
Drive wheel, 22... Barrel roller, 25... Cylinder, 42... Direction control wheel, 50... Work trolley,
51...Main body, 56...Wheel, 57...Fixing device, 61...Rotating frame, 68...Arm, 70...
...Torch, 80...Grinder.

Claims (1)

[Claims] 1. A traveling trolley that travels within a pipe with drive wheels,
This is a train-type pipe welding device that is constructed by connecting work carts, etc. that perform polishing, welding, etc. of welded parts. The base end is rotatably provided on the main body,
A direction control wheel for controlling the attitude of the truck around the tube axis is provided at the tip of one of the frames facing the running direction, and a direction control wheel is provided at the tip of one of the frames other than the frame equipped with the direction control wheel. A rotatably driven drive wheel provided with 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 traveling direction, and a drive wheel and a direction control wheel that move forward and backward toward the inner wall of the pipe. The work trolley is composed of wheels and a fixing device that are provided to be driven forward and backward in the radial direction of the front and back of the main body, and a fixed device that is provided in the middle part of the main body to be driven to rotate. A rotating mount, a work implement mounting arm provided on the mount so that it can be moved in the axial and radial directions of the pipe, and a work implement mounting arm that is mounted on the mounting arm so that it retreats close to the center while traveling, and is moved toward the pipe wall during work. An in-pipe welding device consisting of a working tool installed as shown in the figure.