JPH0740216A - Bead surface repairing device - Google Patents
Bead surface repairing deviceInfo
- Publication number
- JPH0740216A JPH0740216A JP19233793A JP19233793A JPH0740216A JP H0740216 A JPH0740216 A JP H0740216A JP 19233793 A JP19233793 A JP 19233793A JP 19233793 A JP19233793 A JP 19233793A JP H0740216 A JPH0740216 A JP H0740216A
- Authority
- JP
- Japan
- Prior art keywords
- bead
- rail
- traveling
- light source
- ccd camera
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Granted
Links
Landscapes
- Machine Tool Sensing Apparatuses (AREA)
- Grinding And Polishing Of Tertiary Curved Surfaces And Surfaces With Complex Shapes (AREA)
Abstract
Description
【０００１】[0001]
【産業上の利用分野】本発明は水圧鉄管や煙突などの現
地で円周溶接される構造物のビード表面補修装置に関す
る。BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a bead surface repairing device for circumferentially welded structures such as penstocks and chimneys.
【０００２】[0002]
【従来の技術】従来円周溶接される構造物例えば水圧鉄
管では、鉄管外面の裏波ビードの形状検査及びビード補
修作業は、鉄管と岩盤との間に作業員が入り、作業員に
よって行われていた。2. Description of the Related Art Conventionally, in a structure such as a penetrating steel pipe to be welded circumferentially, the shape inspection of the backside bead on the outer surface of the iron pipe and the bead repair work are performed by a worker between the iron pipe and the bedrock. Was there.
【０００３】[0003]
【発明が解決しようとする課題】しかし岩盤掘削工数低
減のために鉄管と岩盤との隙間は約３００ｍｍの要求が
あるため、作業員が鉄管と岩盤との間に入ることが、殆
んど不可能であって、その作業に難渋を来たしていた。
本発明はかかる問題点に対処するため開発されたもので
あって、鉄管外面作業を自動化させることを目的とす
る。However, since the clearance between the iron pipe and the bedrock is required to be about 300 mm in order to reduce the number of rock excavation man-hours, it is almost impossible for an operator to enter between the iron pipe and the bedrock. It was possible, and I was having a hard time working on it.
The present invention was developed to address such problems, and an object thereof is to automate the work on the outer surface of an iron pipe.
【０００４】[0004]
【課題を解決するための手段】上記の目的を達成させる
ための本発明の構成を実施例に対応する図１乃至図７を
用いて説明すると本発明は溶接された長尺鉄管１に、ビ
ード３に沿ったレール４を設け、該レール４上を走行す
る走行フレーム８に、前記レール４に保持される案内機
構９と、前記ビード３を照射するレーザスリット光源１
０と、該光源１０で照射されるビード３を撮影するＣＣ
Ｄカメラ１１と、該カメラ１１で撮影された画像処理に
基づいて前記ビード３に向って移動するグラインダ装置
１２と溶接装置１３とを設けたことを特徴とする。The structure of the present invention for achieving the above object will be described with reference to FIGS. 1 to 7 corresponding to the embodiments. The present invention is a welded long iron pipe 1 and a bead. 3 is provided with a rail 4, a guide frame 9 held by the rail 4 and a laser slit light source 1 for irradiating the bead 3 on a traveling frame 8 traveling on the rail 4.
0, CC for photographing the bead 3 illuminated by the light source 10
It is characterized in that a D camera 11, and a grinder device 12 and a welding device 13 that move toward the bead 3 based on image processing taken by the camera 11 are provided.
【０００５】[0005]
【作用】そして本発明は、上記の手段により鉄管外周の
レール上を走行する走行フレームは、その走行によって
レーザースリット光をビードに照射し、ＣＣＤカメラで
撮影することによりビードの高さ及びアンダーカットの
判定及び観察をし、この観察によってグラインダ装置を
移動させてビードの余盛またはアンダーカット部を除去
し、次いで溶接装置を移動させて、ビードの補修溶接を
行う。According to the present invention, the traveling frame traveling on the rail on the outer circumference of the iron pipe by the above means irradiates the laser slit light on the bead by the traveling, and the height and the undercut of the bead are obtained by photographing with a CCD camera. Is determined and observed, the grinder device is moved by this observation to remove the excess or undercut portion of the bead, and then the welding device is moved to perform repair welding of the bead.
【０００６】[0006]
【実施例】以下本発明の一実施例を図１乃至図７を用い
て説明すると１は鉄管を示し、該鉄管１は、図１に示す
ように岩盤２に掘削されるトンネル内に隙間を存して嵌
挿され、その外周には溶接されたビード３に沿ってアン
グル形のレール４を設け、該レール４にセットされた走
行台車５の走行によってリール６より引張り出されロー
プ７に接続されて、レール４上を走行する走行フレーム
８が設けられている。DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS An embodiment of the present invention will be described below with reference to FIGS. 1 to 7. Reference numeral 1 denotes an iron pipe, and the iron pipe 1 has a gap in a tunnel excavated in rock 2 as shown in FIG. An angle-shaped rail 4 is provided along the welded bead 3 on the outer periphery of the reel 4, and the traveling carriage 5 set on the rail 4 pulls it out of the reel 6 and connects it to the rope 7. Thus, a traveling frame 8 that travels on the rail 4 is provided.
【０００７】そして前記走行フレーム８には、レール４
に保持される案内機構９とビード３を照射するレーザス
リット光源１０と、該光源１０で照射されたビード３を
撮影するＣＣＤカメラ１１と、該カメラ１１で撮影され
た画像処理に基づいてビード３に向って移動してビード
３を研削するグラインダ装置１２と同じくビード３に向
って移動してビード３を溶接する溶接装置１３とが設け
られている。The rail 4 is attached to the traveling frame 8.
A laser slit light source 10 for irradiating the bead 3 with a guide mechanism 9 held by the CCD, a CCD camera 11 for photographing the bead 3 irradiated by the light source 10, and a bead 3 based on image processing photographed by the camera 11. A grinder device 12 that moves toward the bead 3 to grind the bead 3 and a welding device 13 that moves toward the bead 3 to weld the bead 3 are provided.
【０００８】これを更に詳述すると走行フレーム８に
は、どの位置でも構造物と同じ位置を保つためのガイド
ローラ１４を図５に示すようにフレーム８の上下面に備
え、前記案内機構９は図６及び図７に示すようにアング
ルレール４の上端を倣う走行用ローラ１５とアングルレ
ール４の下端面をばねで加圧する加圧ローラ１６とアン
グルレール４の内側面をばねで加圧する予圧ローラ１７
とから構成され、走行台車５の走行によりリール６より
引張り出されるロープ７は、図７に示すようにロープ固
定具１８により走行フレーム８に接続され、走行台車５
により走行フレーム８は牽引される。This will be described in more detail. The traveling frame 8 is provided with guide rollers 14 for keeping the same position as the structure at any position on the upper and lower surfaces of the frame 8 as shown in FIG. As shown in FIGS. 6 and 7, a traveling roller 15 that follows the upper end of the angle rail 4, a pressure roller 16 that presses the lower end surface of the angle rail 4 with a spring, and a preload roller that presses the inner side surface of the angle rail 4 with a spring. 17
The rope 7, which is composed of and is pulled out from the reel 6 when the traveling carriage 5 travels, is connected to the traveling frame 8 by the rope fixing tool 18 as shown in FIG.
Thereby, the traveling frame 8 is pulled.
【０００９】又レーザスリット光源１０からのスリット
光１９を裏波ビード３に照射し、ＣＣＤカメラ１１で撮
影したビード高さ及びアンダーカットの判定は操作室の
モニタ画像を画像処理し計算機で行なう。更に、前記グ
ラインダ装置１２は押し付け機構２０を介して、又前記
溶接トーチ１１は高さ調整スライド２１を介してそれぞ
れＸ軸スライド２２とＹ軸スライド２３と図示しないＺ
軸スライドを有する摺動体２４に取付けられ、一方前記
溶接トーチ１１は図４に示すようにワイヤ送給機構２５
とワイヤガイド２６を有し、前記摺動体２４により補修
溶接位置に移動され高さ調整スライド２１により補修部
に下げられワイヤ送給機構２５より送り出された溶接ワ
イヤはワイヤガイド２６をへてチップ２７より送り出さ
れ溶接装置１３により補修され、この補修溶接状況は観
察カメラ２８により観察されるようにした。Further, the slit light 19 from the laser slit light source 10 is applied to the backside bead 3, and the bead height and undercut photographed by the CCD camera 11 are determined by a computer by image-processing a monitor image in the operation room. Further, the grinder device 12 is provided with a pressing mechanism 20, and the welding torch 11 is provided with a height adjusting slide 21.
The welding torch 11 is mounted on a sliding body 24 having an axial slide, while the welding torch 11 is a wire feeding mechanism 25 as shown in FIG.
And a wire guide 26, the welding wire is moved to the repair welding position by the sliding body 24, lowered to the repair portion by the height adjusting slide 21, and sent out from the wire feeding mechanism 25. It is sent out and repaired by the welding device 13, and the repair welding condition is observed by the observation camera 28.
【００１０】[0010]
【発明の効果】このように本発明によるときは溶接され
た長尺鉄管に、ビードに沿ったレールを設け、該レール
上を走行する走行フレームにレールに保持される案内機
構とビードを照射するレーザスリット光源と、該光源で
照射されたビードを撮影するＣＣＤカメラと、該カメラ
で撮影された画像処理に基づいて前記してビードに向っ
て移動するグラインダ装置と溶接装置とを設けたもので
あるから鉄管のビードは鉄管外周のレール上を走行する
走行フレーム上のＣＣＤカメラとグラインダ装置及び溶
接装置とにより形状検査と補修作業とが可能となり、狭
隘な場所又は危険な場所でのビードの補修作業が容易と
なる効果を有する。As described above, according to the present invention, the welded long iron pipe is provided with the rail along the bead, and the guide frame held by the rail and the bead are irradiated to the traveling frame traveling on the rail. A laser slit light source, a CCD camera for photographing a bead irradiated by the light source, a grinder device and a welding device which move toward the bead based on image processing photographed by the camera. Therefore, the bead of the iron pipe can be inspected and repaired by the CCD camera on the traveling frame that runs on the rail around the iron pipe, the grinder device and the welding device, and the bead repair can be performed in a narrow place or a dangerous place. This has the effect of facilitating the work.
【図１】本発明の一実施例を示す斜視図である。FIG. 1 is a perspective view showing an embodiment of the present invention.
【図２】本発明の一実施例を示す正面図である。FIG. 2 is a front view showing an embodiment of the present invention.
【図３】本発明のグラインダ装置部の底面図である。FIG. 3 is a bottom view of the grinder device unit of the present invention.
【図４】本発明の溶接装置部の底面図である。FIG. 4 is a bottom view of the welding device portion of the present invention.
【図５】本発明の走行フレームの側面図である。FIG. 5 is a side view of the traveling frame of the present invention.
【図６】本発明のガイドローラ部の側面図である。FIG. 6 is a side view of the guide roller portion of the present invention.
【図７】本発明の加圧ローラ部の側面図である。FIG. 7 is a side view of the pressure roller portion of the present invention.
１ 鉄管 ３ ビード ４ レール ８ 走行フレーム ９ 案内機構 １０ レーザスリット光源 １１ ＣＣＤカメラ １２ グラインダ装置 １３ 溶接装置 1 Iron Pipe 3 Bead 4 Rail 8 Traveling Frame 9 Guide Mechanism 10 Laser Slit Light Source 11 CCD Camera 12 Grinder Device 13 Welding Device
───────────────────────────────────────────────────── フロントページの続き (72)発明者 辰巳 良一 兵庫県神戸市兵庫区和田崎町一丁目１番１ 号 三菱重工業株式会社神戸造船所内 (72)発明者 志水 彰 兵庫県神戸市兵庫区和田崎町一丁目１番１ 号 三菱重工業株式会社神戸造船所内 (72)発明者 福永 義昭 兵庫県高砂市荒井町新浜２丁目８番25号 高菱エンジニアリング株式会社内 ─────────────────────────────────────────────────── ─── Continuation of the front page (72) Inventor Ryoichi Tatsumi 1-1-1, Wadazakicho, Hyogo-ku, Kobe, Hyogo Prefecture Mitsubishi Heavy Industries, Ltd. Kobe Shipyard (72) Inventor Akira Shimizu Wa, Hyogo-ku, Kobe-shi, Hyogo Prefecture 1-1-1 Tasakicho Mitsubishi Heavy Industries, Ltd. Kobe Shipyard (72) Inventor Yoshiaki Fukunaga 2-8-25 Niihama, Niihama, Araimachi, Takasago, Hyogo Takahishi Engineering Co., Ltd.
Claims (1)
レールを設け、該レール上を走行する走行フレームに、
前記レールに保持される案内機構と、前記ビードを照射
するレーザスリット光源と、該光源で照射されたビード
を撮影するＣＣＤカメラと、該カメラで撮影された画像
処理に基づいて前記ビードに向って移動するグラインダ
装置と溶接装置とを設けたことを特徴とするビード表面
補修装置。1. A welded long iron pipe is provided with a rail along a bead, and a traveling frame traveling on the rail,
A guide mechanism held on the rail, a laser slit light source for irradiating the bead, a CCD camera for photographing the bead irradiated by the light source, and a head for the bead based on image processing photographed by the camera A bead surface repair device comprising a moving grinder device and a welding device.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP19233793A JP3524565B2 (en) | 1993-08-03 | 1993-08-03 | Bead surface repair equipment |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP19233793A JP3524565B2 (en) | 1993-08-03 | 1993-08-03 | Bead surface repair equipment |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| JPH0740216A true JPH0740216A (en) | 1995-02-10 |
| JP3524565B2 JP3524565B2 (en) | 2004-05-10 |
Family
ID=16289607
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| JP19233793A Expired - Fee Related JP3524565B2 (en) | 1993-08-03 | 1993-08-03 | Bead surface repair equipment |
Country Status (1)
| Country | Link |
|---|---|
| JP (1) | JP3524565B2 (en) |
Cited By (13)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| KR100247140B1 (en) * | 1997-04-29 | 2000-04-01 | 박호군 | Method for removing welding bead using grinding robot system |
| JP2004098124A (en) * | 2002-09-09 | 2004-04-02 | Hitachi Constr Mach Co Ltd | Welding method and welding system |
| CN104014917A (en) * | 2014-06-12 | 2014-09-03 | 山东电力建设第一工程公司 | Dual-camera device for monitoring welding quality of super-thick-wall high alloy steel pipelines |
| AU2010332508B2 (en) * | 2009-12-17 | 2014-11-20 | Saipem S.P.A | Pipeline weld repairing method and apparatus |
| CN107838628A (en) * | 2017-10-24 | 2018-03-27 | 燕山大学 | A kind of grain roll roll surface combined-repair method |
| CN111015410A (en) * | 2018-10-10 | 2020-04-17 | 衢州学院 | Welding face detection device based on machine vision |
| CN111604754A (en) * | 2020-06-23 | 2020-09-01 | 韩军奇 | Working method of three-face-fit self-propelled H-shaped steel welding bead floating repair device |
| CN112548779A (en) * | 2021-01-07 | 2021-03-26 | 南京富黎田科技有限公司 | Automatic repairing device for excavator |
| CN112621387A (en) * | 2020-12-28 | 2021-04-09 | 齐重数控装备股份有限公司 | Method for detecting parallelism of vertical tool rest moving on working table of heavy vertical lathe |
| US11175099B2 (en) | 2013-05-23 | 2021-11-16 | Crc-Evans Pipeline International, Inc. | Systems and methods for use in welding pipe segments of a pipeline |
| CN114273757A (en) * | 2022-02-14 | 2022-04-05 | 山东汉华工业设备有限公司 | Automatic welding seam tracking device for heat exchanger |
| US11458571B2 (en) | 2016-07-01 | 2022-10-04 | Crc-Evans Pipeline International, Inc. | Systems and methods for use in welding pipe segments of a pipeline |
| US11767934B2 (en) | 2013-05-23 | 2023-09-26 | Crc-Evans Pipeline International, Inc. | Internally welded pipes |
-
1993
- 1993-08-03 JP JP19233793A patent/JP3524565B2/en not_active Expired - Fee Related
Cited By (15)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| KR100247140B1 (en) * | 1997-04-29 | 2000-04-01 | 박호군 | Method for removing welding bead using grinding robot system |
| JP2004098124A (en) * | 2002-09-09 | 2004-04-02 | Hitachi Constr Mach Co Ltd | Welding method and welding system |
| US10239163B2 (en) | 2009-12-17 | 2019-03-26 | Saipem S.P.A. | Pipeline weld repairing method and apparatus |
| AU2010332508B2 (en) * | 2009-12-17 | 2014-11-20 | Saipem S.P.A | Pipeline weld repairing method and apparatus |
| US11175099B2 (en) | 2013-05-23 | 2021-11-16 | Crc-Evans Pipeline International, Inc. | Systems and methods for use in welding pipe segments of a pipeline |
| US11767934B2 (en) | 2013-05-23 | 2023-09-26 | Crc-Evans Pipeline International, Inc. | Internally welded pipes |
| CN104014917B (en) * | 2014-06-12 | 2016-04-06 | 山东电力建设第一工程公司 | Dual camera monitoring hyper-thick pipe high-alloy steel pipeline welding quality device |
| CN104014917A (en) * | 2014-06-12 | 2014-09-03 | 山东电力建设第一工程公司 | Dual-camera device for monitoring welding quality of super-thick-wall high alloy steel pipelines |
| US11458571B2 (en) | 2016-07-01 | 2022-10-04 | Crc-Evans Pipeline International, Inc. | Systems and methods for use in welding pipe segments of a pipeline |
| CN107838628A (en) * | 2017-10-24 | 2018-03-27 | 燕山大学 | A kind of grain roll roll surface combined-repair method |
| CN111015410A (en) * | 2018-10-10 | 2020-04-17 | 衢州学院 | Welding face detection device based on machine vision |
| CN111604754A (en) * | 2020-06-23 | 2020-09-01 | 韩军奇 | Working method of three-face-fit self-propelled H-shaped steel welding bead floating repair device |
| CN112621387A (en) * | 2020-12-28 | 2021-04-09 | 齐重数控装备股份有限公司 | Method for detecting parallelism of vertical tool rest moving on working table of heavy vertical lathe |
| CN112548779A (en) * | 2021-01-07 | 2021-03-26 | 南京富黎田科技有限公司 | Automatic repairing device for excavator |
| CN114273757A (en) * | 2022-02-14 | 2022-04-05 | 山东汉华工业设备有限公司 | Automatic welding seam tracking device for heat exchanger |
Also Published As
| Publication number | Publication date |
|---|---|
| JP3524565B2 (en) | 2004-05-10 |
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