JP2018075642A - Pipe body inside backing treatment device - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide a pipe body inside backing treatment device capable of efficiently executing backing treatment in a short time on a part of ranging over a wide range of an inner surface of a pipe body.SOLUTION: A pipe body inside backing treatment device comprises a guide device 2 for moving the axis 2a along the center line of a steel pipe (a pipe body) P and a work device 3 arranged on the tip side of the guide device 2, and the work device 3 comprises a rotational driving part 4 installed in a tip part of the guide device 2, a rotary body 5 connected to a rotary output shaft 4a of the rotational driving part 4 and rotatingly driven with the axis 2a as the center, an arm 6 for connecting a base end part to the rotary body 5 via a rocking support pin 53 so that the tip part moves in the direction for separating-contacting to a cylindrical inner peripheral surface of a main column a and a backing treatment tool 7 installed in the tip part of the arm 6, and the rocking support pin 53 is arranged in a position at a predetermined interval in the radial direction from a rotation center line 5a of the rotary body 5.SELECTED DRAWING: Figure 3

Description

  The present invention relates to an in-pipe base treatment apparatus for performing a pre-treatment on an inner surface of a tubular body structure having a metal pipe.

  For example, as a steel pipe tower (tubular structure) having a cylindrical steel pipe (metal pipe body), a plurality of main pillars (for example, four bases) configured to be long by connecting a plurality of the steel pipes. What you have is known. The inner and outer surfaces of the main column are rust-proofed by hot dip galvanization, for example, but the inner surface of the main column (ie, the inner surface of the steel pipe) may be difficult to visually inspect from the outside. In some cases, it may be desired to further enhance the rust prevention effect by applying in advance. In that case, remove the foreign matter such as dust adhering to the inner surface of the main pillar, roughen the inner surface, and if rust is generated, remove the rust. Then, the inner surface is painted.

  About the ground surface treatment of the inner surface of the main pillar, for example, a tubular body rust removal apparatus as shown in Patent Document 1 is inserted into the main pillar, and this tubular body rust removal apparatus is used as a tubular ground surface treatment apparatus. It is possible.

  That is, the pipe substrate surface treating apparatus using the pipe rust removing apparatus includes a guide device configured to be movable along the center line of the main pillar and a plurality of links provided on the distal end side of the guide device. And a rotating whetstone (rust removing portion) provided at the tip of the arm, and adheres to the inner surface of the main pillar including the part protruding inward by the rotating whetstone When the foreign matter is removed, the inner surface is roughened, and rust is generated, a ground treatment such as removal of the rust can be performed.

  In addition, since the arm is configured to be bendable based on a plurality of links, the rotating grindstone provided at the tip of the arm is moved to various positions in the main column. There is an advantage that ground treatment such as removal of dust at any part of the inner surface of the main pillar, roughening of the inner surface, and removal of rust can be performed extremely accurately.

  However, in the above-mentioned pipe substrate processing apparatus, the rotating grindstone must be moved sequentially using the bending function of the arm when the entire surface of a wide area on the inner surface of the main column is to be processed. For this reason, there is a problem that it is difficult to efficiently perform the substrate treatment in a short time.

JP 2010-089232 A

  The present invention has been made in view of the above circumstances, and an in-tube substrate processing apparatus capable of efficiently performing an under-treatment in a short time on a wide area of a surface (that is, an inner surface) that appears on the inside of a tube. It is an issue to provide.

  In order to solve the above-mentioned problem, the invention described in claim 1 is a tubular substrate treating apparatus used for a substrate treatment of an inner surface of a tubular structure having a circular tubular metal tube. A guide device having a leg portion that is inserted into the tube and guides an axis to a position corresponding to a center line of the tube, and a side of the guide device that is inserted first into the tube. A working device disposed on the distal end side, the working device being connected to a rotational drive unit attached to the distal end portion of the guide device, and a rotational output shaft of the rotational drive unit. A rotating body that is driven to rotate about the axis, and a rocking support pin at the base end so that the distal end can move in a direction to be separated from or in contact with the cylindrical inner peripheral surface of the tube. And an arm that is swingably connected to the rotating body. A ground processing tool attached to the tip of the arm and projecting from the tip to the tip side, and the swing support pin is arranged in a radial direction from the rotation center line of the rotating body. It is characterized by being arranged at a position with a predetermined interval.

  According to a second aspect of the present invention, in the first aspect of the present invention, a plurality of the swing support pins are provided around the rotation center line at a predetermined interval.

  According to a third aspect of the present invention, in the first or second aspect of the present invention, the axis of the swing support pin is oriented in a tangential direction of a circle centering on the rotation center line of the rotating body. It is characterized by.

  According to a fourth aspect of the present invention, in the invention according to any one of the first to third aspects, the arm is provided with a lift generating portion, and the lift generating portion is configured such that the arm is the rotating body. In the state existing on the tip side, the rotation center line is directed in the direction opposite to the direction of the air flow relative to the direction of the air flow generated based on the rotation of the rotating body around the rotation center line. It is characterized by being comprised with what has the angle of attack which inclines in the direction away from at least.

  According to a fifth aspect of the present invention, in the invention according to any one of the first to fourth aspects, the base of the arm is extended in a state where the arm extends toward the distal end side of the guide device along the rotation center line. Temporary holding means for holding the end portion on the rotating body with a predetermined force is provided on at least one of the rotating body and the base end portion of the arm.

  The invention according to claim 6 is the invention according to any one of claims 1 to 5, wherein the arm includes a first arm located on the proximal end side and a second arm located on the distal end side. The first arm has a base end portion that is swingably connected to the rotating body via the swing support pin, and a tip end portion of the first arm is a base of the second arm. The end treatment tool is provided so as to protrude from the tip portion to the tip side, and is connected to the end portion via a rotation pin so as to be freely rotatable. The pivot pin is characterized in that its axis is in a direction along a plane perpendicular to the axis of the swing support pin, and is oriented in a direction substantially perpendicular to the direction in which the first arm extends. .

  The invention according to claim 7 is the invention according to any one of claims 1 to 6, wherein the rotation output shaft in the rotation drive unit is driven to rotate by an air motor, and is in the vicinity of the air motor. The electromagnetic valve is disposed at a position corresponding to at least one of the air flow path on the air supply port side of the air motor and the air flow path on the exhaust port side of the air motor. It is characterized in that the air flow path can be closed and opened.

  The invention according to an eighth aspect is the invention according to any one of the first to seventh aspects, wherein the ground treatment is arranged so as to be positioned in a direction of a proximal end side of the guide device with respect to the ground treatment tool. A first illuminating means directed at least to illuminate a portion of the inner surface of the tube corresponding to a tool, and a first camera directed at least to image a portion of the inner surface; The tube positioned so as to be positioned in the direction of the proximal end of the guide device with respect to the first illumination means and the first camera, and positioned in the direction of the proximal end of the guide device from the disposed position It is characterized by comprising a second illuminating means directed at least in the direction of illuminating the inner surface of the body and a second camera directed at least in the direction of photographing the inner surface.

  The invention according to claim 9 is the invention according to claim 8, further comprising a first photographing device including the first illumination unit and the first camera, the second illumination unit, and the second camera. The second imaging device is provided at each position divided into a plurality of portions in the circumferential direction around a line corresponding to the axis of the guide device, and at least one image of the plurality of first and second cameras is displayed. It is characterized by having a photographing control device for displaying on a monitor.

  According to a tenth aspect of the present invention, in the ninth aspect, the photographing control device sequentially switches at least one of the plurality of first photographing devices and the plurality of second photographing devices in the circumferential direction. Thus, an automatic display switching circuit that sequentially displays on the monitor at least one of the plurality of first camera images and the plurality of second camera images is provided.

  According to an eleventh aspect of the present invention, in the invention according to the ninth or tenth aspect, the photographing control device manually operates a predetermined photographing device from the plurality of first photographing devices and the plurality of second photographing devices. And a manual display switching circuit for displaying the video of the camera in the selected photographing apparatus on the monitor.

  According to the first aspect of the present invention, the base end portion swings on the rotating body via the swing support pin so that the distal end portion can move in a direction in which the distal end portion is in contact with the cylindrical inner peripheral surface of the tube body. An arm that is freely connected, and a ground processing tool that is attached to the tip of the arm and protrudes from the tip to the tip, and the swing support pin is a rotation center line of the rotating body Is disposed at a predetermined interval in the radial direction with respect to the tube, for example, after inserting the tubular substrate treating apparatus into the tubular body extending vertically, the rotating body is driven to rotate in a predetermined direction. As a result, the arm also rotates so as to turn around the rotation center line of the rotating body. Then, a centrifugal force is generated in the arm and the ground treatment tool, and the centrifugal force causes the arm to swing in the direction toward the cylindrical inner peripheral surface of the tubular body with the swing support pin as a fulcrum. It will contact | abut to an internal peripheral surface. For this reason, surface treatment such as removal of foreign matter such as dust attached to the inner surface as the cylindrical inner peripheral surface of the tubular body, roughening of the inner surface, and removal of rust when rust has occurred. It can be carried out. By moving the guide device along the center line of the tubular body in this state, the entire cylindrical inner peripheral surface of the tubular body in the moved range can be uniformly and efficiently ground-treated.

  Further, when there is a convex portion such as a rib protruding inward from the cylindrical inner peripheral surface of the tubular body, the angle around the swing support pin of the arm is set to a predetermined angle based on the rotational speed of the rotating body. Then, by moving the guide device along the center line of the tubular body, it is possible to perform the ground treatment on the upper surface of the convex portion. That is, after adjusting the angle of the arm so that the ground processing tool hits the inner edge of the top surface of the convex part, the guide device is gradually moved to the convex part side so that the ground processing tool becomes convex. Since it automatically moves from the inner edge to the outer edge on the upper surface, it is possible to efficiently perform the ground treatment on the entire upper surface of the convex portion.

  As described above, a surface (that is, an inner surface) that appears on the inside of the tubular body as the cylindrical inner peripheral surface of the tubular body, and a convex portion that appears on the inside of the tubular body as an upper surface of the convex portion. The surface (that is, the inner surface) can be efficiently ground-treated in a short time. That is, the ground treatment can be efficiently performed in a short time on a wide area of the inner surface of the tubular body.

  According to the second aspect of the present invention, since a plurality of swing support pins are provided at predetermined intervals around the rotation center line of the rotating body, the arm provided on each swing support pin and the arm By the provided ground treatment tool, the ground treatment can be efficiently performed in a shorter time.

  According to the third aspect of the present invention, since the axis of the swing support pin faces the tangential direction of the circle centering on the rotation center line of the rotating body, the direction of the centrifugal force generated in the arm or the like is the swing support. The direction is orthogonal to the pin. Therefore, the centrifugal force can be efficiently applied from the ground treatment tool to the inner surface of the tubular body as the cylindrical inner peripheral surface of the tubular body, so that the efficiency of the ground treatment can be improved.

  According to the fourth aspect of the present invention, the lift generating portion is provided on the arm, and the lift generating portion is configured to rotate the rotating body around the rotation center line in a state where the arm exists on the distal end side of the rotating body. It has an angle of attack that is inclined at least away from the rotation center line in the direction opposite to the direction of the air flow that occurs relative to the direction of the air flow. Also by the fluid force, the arm swings in the direction toward the cylindrical inner peripheral surface of the tube body with the swing support pin as a fulcrum. That is, since the ground treatment tool can be pressed against the cylindrical inner peripheral surface of the tubular body based on the total force of the centrifugal force and the fluid force, the ground treatment can be performed more efficiently.

  According to the fifth aspect of the present invention, in the state where the arm extends to the distal end side of the guide device so as to follow the rotation center line, the base end portion of the arm is temporarily held by the rotating body with a predetermined force. Since the means is provided on at least one of the rotating body and the base end portion of the arm, even when the tubular substrate processing apparatus is inserted into the tubular body extending obliquely or laterally, the arm is aligned with the rotation center line. It becomes possible to maintain the direction. By rotating the rotating body in this state, when the force based on the centrifugal force acting on the arm or the like (force added to the fluid force in the case of a lift generating part) exceeds the holding force by the temporary holding means Thus, the arm swings in the direction of the cylindrical inner peripheral surface of the tubular body, and the ground processing tool is in pressure contact with the cylindrical inner peripheral surface of the tubular body. Therefore, it is possible to improve the operability when performing the base treatment for the site in the tubular body extending obliquely.

  According to the invention described in claim 6, the arm is composed of the first arm and the second arm, and the base end portion of the first arm is swingable to the rotating body via the swing support pin. The tip end of the first arm and the base end of the second arm are rotatably connected via a rotation pin, and the axis of the rotation pin is orthogonal to the axis of the swing support pin. Since the second arm is oriented in a direction substantially perpendicular to the direction in which the first arm extends, the ground treatment tool provided at the tip of the second arm is a cylindrical cylinder. When it comes into contact with the inner peripheral surface, it becomes possible to be in a state of being inclined at a predetermined angle rearward in the rotational direction with respect to the first arm. For this reason, the first arm and the second arm have centrifugal force (having a lift generating part) acting on the first arm, the second arm, etc., as long as the inner diameter of the tube body is within a predetermined range. In this case, the fluid support force is applied in a direction substantially perpendicular to the rotation center line (or higher than the direction perpendicular to the one having a lift generating part) with the swing support pin as a fulcrum. It is also possible to move.

  That is, when inserted into a tube extending in the up-down direction, a state close to a direction perpendicular to the rotation center line due to the centrifugal force acting on the first arm, the second arm, the ground treatment tool, etc. The first arm, the second arm, and the substrate treatment tool can be moved up to. When the arm has a lift generating part, the first arm, the second arm, and the substrate treatment tool can be moved to a state exceeding the direction orthogonal to the rotation center line. Therefore, even when a convex portion such as a rib exists on the cylindrical inner peripheral surface of the tubular body, there is an advantage that the cylindrical inner peripheral surface of the tubular body close to the lower surface of the convex portion can be subjected to the ground treatment. In addition, with respect to the lower surface of the convex portion, it is possible to perform ground processing on the outer edge side (side closer to the cylindrical inner peripheral surface of the tubular body).

  For example, when the diameter of the tube is increased stepwise downward, the lower surface (that is, the inner surface) of the stepped portion or the inner periphery of the tube adjacent to the lower surface Surface treatment is also possible for the surface (that is, the inner surface). For this reason, even in the case of a tubular body configured such that the tube diameter is expanded in a plurality of stages and steps downward, by inserting the tubular substrate treatment apparatus of the present invention from the upper end portion of the tubular body, The ground surface of the inner surface of the tube can be reliably treated. Moreover, even for a tube whose inner diameter varies greatly from the minimum diameter almost determined by the length of the first arm to the maximum diameter substantially determined by the total length of the first arm and the second arm. There is an advantage that the surface treatment of the inner surface can be performed by a single type of tube surface treatment apparatus.

  According to the seventh aspect of the invention, the electromagnetic valve is provided at a position corresponding to at least one of the air flow path on the air supply port side and the air flow path on the exhaust port side of the air motor. By closing at least one of the air flow paths with a solenoid valve, the air motor does not operate even when the driving air pressure acts on the air supply port side of the air motor. In addition, in this case, for example, even when the air flow path from the air pressure source that supplies a predetermined high-pressure air to the air supply port is long, pressure loss occurs when no air flows through the air flow path. Therefore, the predetermined air pressure (that is, the original pressure) set by the air pressure source acts to the vicinity of the air motor.

  That is, when the electromagnetic valve is provided only at a position corresponding to the air flow path on the air supply port side, the original pressure of the air pressure source acts to the position of the electromagnetic valve near the air motor. When the solenoid valve is provided only at a position corresponding to the air flow path on the exhaust port side, the air pressure is supplied from the air supply port to the position of the solenoid valve on the exhaust port side through the air motor and the exhaust port. The source pressure of the source will act. Further, when the solenoid valve is provided at a position corresponding to the air flow path on the air supply side and the exhaust port side, the original pressure of the air pressure source is applied to the position of one of the solenoid valves. can do.

  For this reason, when the solenoid valve provided only at the position corresponding to the air flow path on the air supply port side is opened from the closed, the air that was at a high pressure up to the position immediately before the solenoid valve flows into the air motor at once. Since a predetermined torque is generated in the air motor, the rotation output shaft starts to rotate with a predetermined angular acceleration. That is, the rotation output shaft enters a predetermined rotation state in a predetermined time.

  Also, if the solenoid valve provided only at the position corresponding to the air flow path on the exhaust port side is opened from the closed, the high-pressure air already filled in the air motor will flow out from the exhaust port at once, Simultaneously with the opening of the electromagnetic valve, a predetermined torque is generated in the air motor, and the rotation output shaft enters a predetermined rotation state in a predetermined time.

  In addition, when solenoid valves are provided on both the air inlet side and exhaust port side, the solenoid valves are provided only in the air flow path on the air inlet side by adjusting the timing of opening each solenoid valve. And the case where it is provided only in the air flow path on the exhaust port side can be exhibited. Further, when the rotary output shaft is driven, control is performed only with the solenoid valve on the exhaust port side (that is, meter-out control), and when the rotary output shaft is stopped, control is performed only with the solenoid valve on the air supply port side ( That is, by configuring so that meter-in control is performed, the rotation output shaft can be brought up to a predetermined rotation state in a predetermined time, and a shock when the rotation output shaft is stopped can be reduced.

  Also, the arm rotates together with the rotation output shaft, but the centrifugal force acting on the arm is proportional to the square of the angular velocity of the rotation output shaft. The angular velocity is set to a predetermined rotational state in a predetermined time regardless of whether the electromagnetic valve on the air inlet side or the exhaust port side is opened. Therefore, after the electromagnetic valve is opened, a predetermined time is applied to the arm in a predetermined time. Centrifugal force will act. Therefore, after the air motor is driven, the time required for the ground processing tool to reach the cylindrical inner peripheral surface of the tubular body can be kept within a predetermined time, so that the efficiency of the ground processing can be improved.

  Note that the maximum angular velocity of the rotation output shaft can be set to a predetermined value by adjusting the flow rate of air supplied to the air motor from, for example, the flow rate adjustment valve provided in the above-described air pressure source. it can.

  In addition, since a predetermined centrifugal force can be applied to the arm at a predetermined time after the start of rotation, even when temporary holding means for stably holding the arm along the rotation center line is provided, There is an advantage that the arm can be smoothly swung to the cylindrical inner peripheral surface side of the tubular body against the holding force of the temporary holding means.

  According to the eighth aspect of the present invention, it is possible to perform the ground treatment while confirming the situation in which the inner surface of the tubular body is treated by the ground treatment tool with the first illumination means and the first camera. Therefore, there is an advantage that necessary and sufficient surface treatment can be performed on the inner surface of the tube body.

  In addition, since the inner surface of the tubular body located in the proximal direction of the tubular substrate processing apparatus can be photographed by the second illumination means and the second camera, for example, even when there is a projecting portion in the tubular body, the projection It is possible to pull out the tubular substrate treating apparatus from the tubular body while avoiding being caught by the portion.

  Therefore, it is possible to improve the efficiency of the base processing work.

  According to the ninth aspect of the present invention, since a plurality of the first imaging device and the second imaging device are provided in a state of being equally divided in the circumferential direction, imaging over the entire circumferential direction can be performed on the inner surface of the tubular body. It becomes possible. And since the imaging | photography control apparatus which displays an at least 1 image of the image of a 1st camera and the image of a 2nd camera on a monitor is provided, the arbitrary part of the circumferential direction in the inner surface of a tubular body is confirmed on a monitor In addition, the ground treatment can be performed without excess or deficiency.

  According to the tenth aspect of the present invention, when the automatic display switching circuit of the imaging control device is configured to sequentially switch the plurality of first imaging devices in the circumferential direction, the ground on the inner surface of the tubular body There is an advantage that the processing status by the processing tool can be confirmed on the monitor so as to cover the entire circumferential direction on the inner surface thereof.

  Further, when the automatic display switching circuit of the imaging control device is configured to sequentially switch the plurality of second imaging devices in the circumferential direction, the inner surface of the tubular body positioned in the proximal direction of the tubular substrate processing apparatus Can be confirmed on the monitor so as to cover the entire circumferential direction.

  Further, when the automatic display switching circuit of the imaging control device is configured to sequentially switch the plurality of first imaging devices and second imaging devices in the circumferential direction, the inner surface and guide of the tube body on the base processing tool side. The inner surface of the tube on the proximal direction side of the apparatus can be confirmed on a monitor so as to cover the entire circumferential direction. In this case, the image on the substrate processing tool side can be displayed on the lower half side of the monitor screen, and the image on the proximal direction side of the guide device can be displayed on the upper half side of the monitor screen. Moreover, you may make it each display on a dedicated monitor about each image | video of the base-processing tool side and the base end direction side of a guide apparatus.

  According to the eleventh aspect of the present invention, since the predetermined camera can be manually selected from the plurality of first and second cameras by the manual display switching circuit of the imaging control device, the inner surface of the tubular body The video of a specific part can be continuously displayed on the monitor. For this reason, there is an advantage that it is possible to confirm on the monitor that the ground treatment is surely performed on a portion where the ground treatment is particularly important, such as a portion where rust is generated. It is also possible to manually select two or more predetermined cameras and display their images on a monitor.

It is the front view shown as one Embodiment of this invention. It is a principal part fracture | rupture front view which shows the guide apparatus in the same pipe | tube base-material processing apparatus. It is a figure which shows the working apparatus in the same pipe | tube base-material processing apparatus, Comprising: It is a principal part fracture | rupture front view which shows the state attached to the front-end | tip part of a guide apparatus. It is a principal part fracture | rupture front view of the working apparatus in the same pipe | tube base-material processing apparatus. It is a figure which shows the working apparatus in the same pipe | tube base-material processing apparatus, Comprising: (a) is sectional drawing which follows the VA-VA line | wire of FIG. 4, (b) is the state after an arm opens with centrifugal force etc. FIG. 5 is a VB arrow view of FIG. 4 shown. It is a figure which shows the rotary body of the working device in the same pipe | tube base-surface processing apparatus, (a) is a bottom view, (b) is a B arrow view of (a), (c) is (a). It is sectional drawing which follows the CC line. It is a figure which shows the 1st arm of the working apparatus in the same pipe | tube base-material processing apparatus, (a) is a front view, (b) is a front view of the state after swinging a predetermined angle around the swing support pin (C) is a C arrow view of (a), (d) is a D arrow view of (a), (e) is an enlarged view of E arrow of (a), ( f) It is an expanded sectional view which follows the FF line of (a). It is a figure which shows the connection part of the 1st arm and 2nd arm of a working device in the same pipe | tube base-surface processing apparatus, (a) is a front view, (b) is BB of (a). It is sectional drawing which follows a line, (c) is C arrow directional view of (b). It is a figure which shows the 2nd arm of the working device in the same pipe | tube base-surface processing apparatus, (a) is a front view, (b) is sectional drawing which follows the BB line of (a), (c) is a C arrow view of (b), (d) is a front view of a wire brush shown as an example of a ground treatment tool different from a super steel bar, and (e) is an E arrow of (d). FIG. It is a principal part front view which shows the effect | action of the same pipe | tube base-material processing apparatus. It is a principal part front view which shows the effect | action of the same pipe | tube base-material processing apparatus, Comprising: With respect to the steel pipe diameter-expanded toward the downward direction, it is possible to perform the base-treatment on the steel pipe etc. immediately below the expanded diameter It is a principal part front view which shows. It is principal part front explanatory drawing which shows the other example about the air motor vicinity part in the same pipe | tube base-material processing apparatus, Comprising: (a) shows the example which provided the solenoid valve in the position corresponding to the air supply hose in the vicinity of an air motor. It is principal part front explanatory drawing, (b) is principal part front explanatory drawing which shows the example which provided the solenoid valve in the position corresponding to the exhaust hose in the vicinity of an air motor, (c) is the air supply hose in the vicinity of an air motor It is principal part front explanatory drawing which shows the example which provided the solenoid valve in the position corresponding to each of an exhaust hose. It is a figure which shows the other example about the arm of the working device in the same pipe | tube base-surface processing apparatus, (a) is a front view which shows the principal part of a rotary body, an arm, and a base-processing tool, (b) is (a) It is an expanded sectional view which follows the BB line of (), (c) is an expanded sectional view which follows the CC line of (a). It is a principal part fracture | rupture front view which shows the other example regarding the part provided with the camera etc. in the same pipe | tube base-surface processing apparatus. It is a figure which shows the other example regarding the part with the same camera etc., Comprising: It is sectional drawing which follows the XV-XV line | wire of FIG. It is a front view which shows the steel pipe steel tower which has the main pillar (steel pipe) for performing the surface treatment of an inner surface.

  A tubular substrate treating apparatus as an embodiment of the present invention will be described in detail with reference to the drawings.

  As shown in FIGS. 1 to 14, the pipe substrate surface treating apparatus 1 shown in this embodiment has a main pillar a formed by connecting steel pipes P as metal pipes having a circular cross section in the axial direction. It is used for the surface treatment of the surface (inner surface) appearing on the inner side of the column a (steel pipe P) in the steel pipe tower (tubular structure) (see FIG. 14). In addition, hot dip galvanization is given to the inner and outer surfaces of the main pillar a.

  As shown in FIG. 1, the pipe substrate processing apparatus 1 opens a lid h (see FIG. 14) provided at the upper opening end of the main column a and inserts it into the main column a from the upper opening end. The guide device 2 having the leg portion 22 for guiding the axis 2a to a position corresponding to the center line of the main pillar a (that is, the center line of the steel pipe P), and the main pillar a in the guide device 2 first. And a working device 3 disposed on the distal end side, which is an insertion side.

  As shown in FIG. 3, the work device 3 is connected to a rotation drive unit 4 attached to the distal end portion of the guide device 2 and a rotation output shaft 4 a of the rotation drive unit 4, and is centered on the axis 2 a of the guide device 2. Rotating body 5 that is rotationally driven as described above, and the base end portion is a swing support pin so that the distal end portion can move in a direction to be separated from and in contact with the cylindrical inner peripheral surface of main pillar a (steel pipe P). The arm 6 is swingably connected to the rotating body 5 via the reference numeral 53, and the base processing tool 7 is attached to the distal end portion of the arm 6 so as to protrude toward the distal end side. .

  This will be described in more detail below. That is, the steel pipe tower shown in this example is configured by connecting a plurality of (for example, four) main pillars a by a bellows e or the like as shown in FIG. Each main pillar a is configured as a single continuous piece by connecting a plurality of steel pipes P with flange joint portions f. In addition, as the steel pipe P is positioned upward, a steel pipe having a smaller diameter is adopted. The flange joint portion f usually has an opening that allows the adjacent steel pipes P to communicate with each other. However, the flange joint portions f1 and f2 at portions where the inclination angle of the main column a changes changes the inside of the adjacent steel pipes P. Some of which have an iron plate g (see FIG. 1).

  That is, as shown in FIG. 1, the flange joint portions f1 and f2 may have a structure in which the inside thereof is partitioned and closed by the iron plate g. When such an iron plate g exists, the state of the inner surface of the main pillar a below the flange joint portions f1 and f2 cannot be confirmed. For this reason, for example, as shown in FIG. 10, by using a fusing means (not shown) such as a plasma cutting machine, a through-hole g1 having a predetermined diameter is formed in the central portion of the iron plate g, whereby the flange joint portion f1, The status of the inner surface of the main column a below f2 can be confirmed.

  By forming the through hole g1, the iron plate g remains as a rib g protruding inward, and the edge of the through hole g1 becomes the inner end g1 of the rib g. That is, the cylindrical inner peripheral surface of the steel pipe P may have a convex portion as a portion where the flange joint portions f1 and f2 protrude inward, a convex portion due to the rib g, and the like. That is, in this example, the inner peripheral surface of the cylinder, the surface appearing inward of the flange joint portions f1 and f2, and the surface appearing inward of the rib g correspond to the inner surface of the steel pipe P or the main column a.

  As shown in FIGS. 1 and 2, the guide device 2 has a cylindrical outer shell portion 21 that extends linearly and has a connecting portion 21a for the wire 11 at its base end (upper end). Is provided. The axis of the outer shell portion 21 corresponds to the axis 2a described above. Further, the guide device 2 has a leg portion 22 that supports the guide device 2 movably along the center line of the main column a while holding the axis 2a at a position corresponding to the center line of the main column a. Are provided at least one set (in this example, three sets are provided at predetermined intervals in the direction of the axis 2a).

  The leg portions 22 in each set are arranged at respective positions (the positions may be equal to or more than three equal parts) that divide the outer peripheral surface of the outer shell part 21 into approximately three equal parts in the circumferential direction. As shown in FIG. 2, the leg portions 22 arranged at the respective positions can be entirely accommodated in the outer shell portion 21 from the base end portion (upper end portion) 22 a to the distal end portion, and With the base end portion 22a as a fulcrum, the tip end portion thereof is driven to swing in a direction in which the tip end portion is separated from or in contact with the inner circumferential surface of the main pillar a. In this case, as shown in FIG. 2, a swing drive mechanism 23 that swings and drives the leg portion 22 with the base end portion 22 a as a fulcrum is provided in the outer shell portion 21.

  The swing drive mechanism 23 includes a motor 23a composed of a stepping motor, a screw mechanism 23b that converts the rotational motion output from the motor 23a into a linear motion, and a rack gear 23c that is driven in a linear direction by the screw mechanism 23b. In this configuration, three pinion gears 23d that mesh with the rack gear 23c are provided. And the base end part 22a of each leg part 22 is being fixed to each pinion gear 23d, and each leg part 22 is rock-driven by the angle according to the rotation angle of each pinion gear 23d controlled by the rotation angle of the motor 23a. It has become so.

  That is, each leg portion 22 is entirely accommodated in the cylindrical outer shell portion 21 in accordance with the rotation angle of each pinion gear 23d, or the tip portion of each leg portion 22 is a cylinder of the main pillar a having various diameters. It may come into contact with the inner peripheral surface. Moreover, the front-end | tip part of each leg part 22 contact | abuts to the cylindrical inner peripheral surface of the main pillar a (steel pipe P), and moves smoothly in the direction along the centerline of the main pillar a along the said cylindrical inner peripheral surface. A wheel 22b is provided to enable this.

  As shown in FIGS. 3 and 4, a joint portion 8 that holds the pipe 81 coaxially with the axis 2 a is provided at the distal end portion of the guide device 2. The joint portion 8 is provided with a camera 82 and an illumination means 83 at a portion corresponding to the periphery of the pipe 81.

  In the camera 82, the direction of the optical axis 82a is set and the viewing angle is set so that the surface processing state of the inner surface of the main pillar a can be confirmed by the surface processing tool 7. . In this case, the cameras 82 are arranged at positions spaced by 180 ° around the axis 2a, and the inner surface of the main pillar a can be recognized over 360 °. The illuminating means 83 is constituted by LEDs and is arranged between the cameras 82, and is arranged so as to illuminate the inner surface of the main pillar a in at least the range of the viewing angle of the cameras 82. It is shining.

  The rotation drive unit 4 has a casing 40 attached to the tip of the guide device 2 via a pipe 81 and a joint unit 8, and an air motor 401 is provided in the casing 40. The air motor 401 has a rotation output shaft 4a whose output shaft is arranged coaxially with the axis 2a. Further, the air supply hose (air flow path) 401a and the exhaust hose (air flow path) 401b connected to the air motor 401 are guided from the casing 40 through the pipe 81 into the guide device 2, and then the main pillar. It is derived from the upper open end of a. In addition, you may comprise so that the exhaust_gas | exhaustion of the air motor 401 may be discharged | emitted as it is in the main pillar a, without providing the exhaust hose 401b.

  The casing 40 has a cylindrical outer shell portion 40a having substantially the same diameter as the outer shell portion 21 of the guide device 2, and a proximal end cover 40b and a distal end cover are respectively provided at the proximal end portion and the distal end portion of the outer shell portion 40a. 40c is fixed. The base end cover 40 b is coaxially connected to the pipe 81 and communicates with the pipe 81 and the casing 40. The tip cover 40c has a through hole portion formed coaxially with the axis 2a, and the bearing 402 is held by the through hole portion. The bearing 402 is configured to hold a rotation center line 5 a of the rotating body 5 coaxially with the axis 2 a of the guide device 2 by rotatably holding a shaft portion 51 of the rotating body 5 described later.

  As shown in FIGS. 5 and 6, the swing support pin 53 is disposed at a position spaced apart from the rotation center line 5a of the rotating body 5 in the radial direction, and is centered on the rotation center line 5a. Four (plural) are provided at regular intervals in the circumferential direction of the circle. The number of swing support pins 53 may be one, but it is preferable to provide two or more swing support pins 53 so that the position of the center of gravity of the swing support pins 53 corresponds to the rotation center line 5a. Further, if the center of gravity of the total of the plurality of swing support pins 53 is a position corresponding to the rotation center line 5a, the swing support pins 53 are spaced apart from the rotation center line 5a in the radial direction. May be provided at different positions in the circumferential direction around the rotation center line 5a, or may be provided with a position shifted in the direction along the rotation center line 5a.

  Each swing support pin 53 has its axis 53a oriented in the tangential direction of a circle centered on the rotation center line 5a.

  As shown in FIG. 7 and the like, the arm 6 is provided with a lift generating portion 61a. As shown in FIGS. 4 and 7A, the lift generating portion 61 a is based on the rotation of the rotating body 5 around the rotation center line 5 a in a state where the arm 6 exists on the distal end side of the rotating body 5. The angle of attack α that is inclined at least away from the rotation center line 5a in the direction opposite to the direction q of the relative air flow (see FIG. 7 (f)). It has a flat bottom surface 61b.

  Further, the upper surface 61c of the lift generating part 61a is formed by a plane parallel to the bottom surface 61b, and the cross section of the lift generating part 61a is formed in a trapezoidal shape with the upper surface 61c and the bottom surface 61b as an upper base and a lower base, respectively. The angle formed between the left and right side surfaces 61d and the bottom surface 61b is an acute angle. That is, when the arm 6 rotates around the rotation center line 5a, the air resistance generated in the lift generating part 61a is small. The air flow direction q is a circle centered on the rotation center line 5a and a tangential direction at the center point of a circle passing through the center point in the width direction of the bottom surface 61b, and a direction toward the bottom surface 61b. Yes. The angle of attack α is an angle formed by the flow direction q and the bottom surface 61b.

  As shown in FIGS. 3 to 7, the arm 6 includes a first arm 61 located on the proximal end side and a second arm 62 located on the distal end side. The base end of the first arm 61 is swingably connected to the rotating body 5 via the swing support pin 53. Further, as shown in FIG. 8, the first arm 61 is rotatably connected to the base end portion of the second arm 62 via a rotation pin 60. As shown in FIG. 9, the above-described ground processing tool 7 is provided at the distal end portion of the second arm 62 so as to protrude from the distal end portion toward the distal end side. In addition, the lift generation | occurrence | production part 61a mentioned above is formed in the 1st arm 61, as shown in FIG.

  As shown in FIGS. 5B and 8, the rotation pin 60 has an axis 60 a in a direction along a plane orthogonal to the axis 53 a of the swing support pin 53, and the first arm 61 extends. It faces in a direction substantially orthogonal to the direction in which it moves. The rotation pin 60 includes a cylindrical portion 60b and a flange portion 60c formed at one end thereof, and is fixed to the distal end portion of the first arm 61 by a screw 60d and a nut 60e.

  As shown in FIG. 9, the second arm 62 is formed with a through hole 62 a that is rotatably fitted to the cylindrical portion 60 b of the rotation pin 60 at the base end portion thereof. Further, a hole 62b for holding the shank 7a of the ground treatment tool 7 in the inserted state is formed at the tip of the second arm 62. The hole 62 b is formed so as to extend from the distal end surface of the second arm 62 in the axial direction of the second arm 62. The second arm 62 has a screw hole at a position in the axial direction of the hole 62b, and a set screw 62c for fixing the shank 7a is provided in the screw hole.

  Further, as shown in FIG. 8A, the rotation direction of the rotating body 5 from the state in which the first arm 61 and the second arm 62 extend linearly is provided at the tip of the first arm 61. A first stopper 61s that enables the F to rotate to 10 ° is provided, and the first arm 61 and the second arm 62 extend linearly from the state where the first arm 61 and the second arm 62 extend linearly. A second stopper 61t is provided that enables rotation to 120 ° in the direction opposite to the rotation direction F.

  On the other hand, as shown in FIG. 6, the rotating body 5 is configured to include a shaft portion 51 located on the proximal end side and a disc portion 52 located on the distal end side. As shown in FIG. 4, the shaft portion 51 is coaxially connected to the rotation output shaft 4 a of the rotation drive unit 4 provided as an output shaft of the air motor 401 via the chuck 41. The disc part 52 is formed coaxially with the shaft part 51.

  Further, as shown in FIG. 6, the circular plate portion 52 is formed with a circular concave portion 52 b and four groove portions 52 c that are formed in a concave shape from the front end surface side. The circular recess 52b is formed by a recess having a cylindrical inner peripheral surface coaxial with the rotation center line 5a. Each groove portion 52c is formed at each position equally divided in the circumferential direction about the rotation center line 5a and extending radially from the rotation center line 5a. In this case, each groove 52c is formed in a straight line with a constant width from the circular recess 52b to the outer peripheral edge of the disc 52. And the rocking | fluctuation support pin 53 mentioned above is provided so that the width direction of each groove part 52c may be penetrated. The direction of the axis 53a of each swing support pin 53 is a direction orthogonal to the direction radiating from the rotation center line 5a.

  The swing support pin 53 is formed of a screw-like shape having a male screw portion 53b at the tip and a parallel pin portion 53c at the middle, and the male screw portion 53b is formed on one side surface of the groove 52c. The parallel pin portion 53c crosses over the entire width of the groove portion 52c when it is screwed into the screw hole and fixed. Further, a screw 52 d for preventing the swing support pin 53 from coming off is fixed to the disc portion 52 in the vicinity of the head of the swing support pin 53.

  The base end portion of the arm 6 and the base end portion of the first arm 61 is formed with a width that can be inserted into the groove 52c as shown in FIG. As shown in FIG. 9, a through hole 61 e is formed that is rotatably fitted to the parallel pin portion 53 c of the swing support pin 53. In addition, at the base end portion of the first arm 61, a bias is formed so as to protrude from the groove 52c into the circular recess 52b in a state where the first arm 61 extends along the rotation center line 5a. A protruding portion 61f is formed.

  The protruding portion 61f has a concave portion formed on the base end surface thereof, and has an adsorption plate piece 61g made of a ferromagnetic material such as iron and fixed to the concave portion with a screw. The first arm 61 has a base end surface formed in a flat shape by a suction plate piece 61g. In this case, the suction plate piece 61f comes into contact with the bottom surface of the circular recess 52b in a state where the first arm 61 extends along the rotation center line 5a.

  On the other hand, the disc portion 52 is provided with a magnet 52e as a temporary holding means at a portion where the suction plate pieces 62d abut on the bottom surface of the circular recess 52b. The magnet 52e is embedded in the disc portion 52 so that the N-pole or S-pole planar attracting surface is flush with the bottom surface of the circular recess 52b. In this case, the magnet 52e attracts the attracting plate piece 61g with a predetermined magnetic force in a state where the arm 6 extends toward the distal end side of the guide device 2 along the rotation center line 5a. The base end portion is temporarily held with a predetermined force to prevent the arm 6 from freely rotating around the swing support pin 53. The magnetic force is based on the force received in the direction in which the portion of the attracting plate piece 61g moves away from the magnet 52e based on the centrifugal force acting on the arm 6 or the like when the rotational speed of the rotating body 5 reaches a predetermined value. It has become a small one.

  As shown in FIGS. 9A to 9C, the base treatment tool 7 is made of a super steel bar, and is a spheroid formed coaxially with the shank 7 a at the tip of the shank 7 a. The blade portion 7b is provided. In addition, as the blade part 7b, the whole was formed in a columnar shape, the one in which the tip of the column was rounded into a hemisphere, the one formed in a taper shape toward the tip, and formed in a sphere A thing etc. can be used. Further, as shown in FIGS. 9D and 9E, a ground processing tool 71 made of a wire brush may be used. The ground processing tool 71 is configured by a brush portion 71b fixed to a tip portion of a shank 71a. The brush part 71b is configured by bundling a plurality of metal wires in a circular cross section. As the metal of the wire, brass, copper, steel, stainless steel or the like is used. The shape of the cross section of the brush portion 71b in which the wires are bundled may be, for example, an ellipse or a polygon other than a circle. In addition, the ground treatment tool 71 using a wire material made of a relatively soft metal such as brass or copper is suitable for removing deposits such as dust, and a wire material made of a relatively hard metal such as steel or stainless steel is used. The ground processing tool 71 is suitable for roughening the inner surface and removing rust.

  In the pipe substrate processing apparatus 1 configured as described above, the base end portion is provided with the swing support pin 53 so that the tip end portion can move in a direction to be separated from or in contact with the cylindrical inner peripheral surface of the main pillar a. An arm 6 that is swingably coupled to the rotating body 5 and a ground treatment tool 7 that is attached to the tip of the arm 6 and that protrudes from the tip to the tip. Since the swing support pin 53 is disposed at a position spaced in a radial direction with respect to the rotation center line 5a of the rotating body 5, the pipe substrate processing apparatus 1 is disposed in the main pillar a extending vertically. When the rotary body 5 is rotationally driven in a predetermined rotational direction F, the arm 6 is also rotated so as to turn around the rotation center line 5 a of the rotary body 5. Then, a centrifugal force is generated in the arm 6 and the base treatment tool 7, and the arm 6 swings in the direction toward the cylindrical inner peripheral surface of the main pillar a with the swing support pin 53 as a fulcrum. The processing tool 7 comes into contact with the cylindrical inner peripheral surface of the main pillar a. For this reason, it removes foreign matters such as dust adhering to the inner peripheral surface of the cylinder of the main pillar a, roughens the inner peripheral surface of the cylinder, and if rust is generated, performs ground treatment such as removal of the rust. be able to. By moving the guide device 2 along the center line of the main pillar a in this state, the entire cylindrical inner peripheral surface of the main pillar a in the moved range can be uniformly and efficiently ground-treated.

  As shown in FIG. 10, when there is a rib g protruding inward of the main pillar a, the angle around the swing support pin 53 of the arm 6 is set to a predetermined angle based on the rotational speed of the rotating body 5. The guide device 2 is adjusted to the angle of the main pillar a with the blade portion 7b of the ground processing tool 7 (or the brush portion 71b of the ground processing tool 71) positioned near the inner end g1 of the upper surface of the rib g. By moving downward along the center line, the entire top surface of the rib g can be ground. That is, after adjusting the angle of the arm 6 so that the blade portion 7b of the ground processing tool 7 (or the brush portion 71b of the ground processing tool 71) contacts the vicinity of the inner end g1 of the upper surface of the rib g, the guide device 2 is adjusted. Is gradually moved toward the rib g so that the blade portion 7b of the base processing tool 7 (or the brush portion 71b of the base processing tool 71) is automatically moved from the inner edge to the outer edge on the upper surface of the rib g. Therefore, it is possible to efficiently perform the base treatment on the entire upper surface of the rib g.

  As described above, it is possible to efficiently perform the base treatment in a short time over a wide area of the inner surface as the cylindrical inner peripheral surface of the main pillar a and the inner surface as the upper surface of the rib g.

  In addition, since the four swing support pins 53 are provided around the rotation center line 5a of the rotating body 5 at a predetermined interval, a total of four arms 6 provided on each swing support pin 53 and the base are provided. By the processing tool 7, the substrate can be efficiently processed in a shorter time.

  Further, since the axis 53 a of the swing support pin 53 faces the tangential direction of the circle centering on the rotation center line 5 a of the rotating body 5, the direction of the centrifugal force generated in the arm 6 and the like is orthogonal to the swing support pin 53. It becomes the direction to do. Therefore, since the centrifugal force can be efficiently applied from the ground treatment tool 7 to the cylindrical inner peripheral surface of the main pillar a, the efficiency of the ground treatment can be improved also from this point.

  Further, a lift generating part 61 a is provided on the arm 6, and the lift generating part 61 a is opposite to the flow direction q of the air flow direction q generated relatively based on the rotation of the rotating body 5. Since the angle of attack α is inclined in a direction away from the rotation center line 5a toward the direction, the arm 6 is supported by the swing support pin 53 as a fulcrum by the fluid force received from the air. It swings in a direction toward the inner peripheral surface of the cylinder. That is, since the ground treatment tool 7 can be pressed against the cylindrical inner peripheral surface of the main pillar a based on the total force of the centrifugal force and the fluid force, the ground treatment can be performed more efficiently.

  On the other hand, in a state where the arm 6 extends toward the distal end side of the guide device 2 so as to follow the rotation center line 5a, the magnet 52e that holds the base end portion of the arm 6 on the rotating body 5 with a predetermined force is the rotating body. For example, even when the tubular substrate processing apparatus 1 is inserted into the main pillar a extending obliquely or laterally, the arm 6 can be maintained in the direction along the rotation center line 5a. It becomes possible. By rotating the rotating body 5 in this state, when the force based on the centrifugal force and the fluid force acting on the arm 6 and the like exceeds the holding force by the magnet 52e, the arm 6 moves on the cylindrical inner peripheral surface of the main column a. The base treatment tool 7 is in pressure contact with the cylindrical inner peripheral surface of the main pillar a. Accordingly, it is possible to improve the operability when performing the base processing for the part in the main pillar a extending obliquely.

  The arm 6 includes a first arm 61 and a second arm 62, and a base end portion of the first arm 61 is swingably connected to the rotating body 5 via a swing support pin 53. A distal end portion of the first arm 61 and a proximal end portion of the second arm 62 are rotatably connected via a rotation pin 60, and an axis 60 a of the rotation pin 60 is connected to the swing support pin 53. Since it is in a direction along a plane orthogonal to the axis 53a and substantially orthogonal to the direction in which the first arm 61 extends, the ground treatment provided at the tip of the second arm 62 When the tool 7 comes into contact with the cylindrical inner peripheral surface of the main pillar a, as shown in FIG. 5B, the tool 7 is inclined at a predetermined angle with respect to the first arm 61 rearward in the rotation direction F. It becomes possible. Therefore, the first arm 61 and the second arm 62 generate centrifugal force and lift that act on the first arm 61, the second arm 62, etc., as long as the inner diameter of the main pillar a is within a predetermined range. With the fluid force generated in the portion 61a, it is also possible to move in a direction substantially perpendicular to the rotation center line 5a or in a direction inclined more upward with the swing support pin 53 as a fulcrum.

  That is, when inserted into the main pillar a extending in the vertical direction, the centrifugal force acting on the first arm 61, the second arm 62, the ground treatment tool 7 and the like is applied to the rotation center line 5a. The first arm 61, the second arm 62, and the substrate treatment tool 7 can be swung in a state close to or more than the orthogonal direction. Therefore, as shown in FIG. 10, the inner surface of the flange joint portion f1 adjacent to the lower surface of the rib g as a protrusion protruding into the main column a (the protruding portion such as the rib g protrudes from the cylindrical inner peripheral surface of the steel pipe P). In this case, there is an advantage that the base treatment of the cylindrical inner peripheral surface of the steel pipe P close to the lower surface of the convex portion can be performed. In addition, the lower surface of the rib g can be subjected to the base treatment for the outer edge side portion.

  As shown in FIG. 11, for example, when the diameter of the steel pipe P on the lower side of the flange joint parts f1, f1 is larger than that of the steel pipe P on the upper side of the flange joint parts f1, f1, the flange joint part f1 , F1 and the main pillar a as a tubular body constituted by the upper and lower steel pipes P are in a state where the diameter is expanded stepwise downward. In this case, the lower surface (inner surface) f1a of the stepped portion of the tubular body and the inner peripheral surface (inner surface) f1b adjacent to the lower surface f1a are formed by the upper and lower flange joint portions f1 and f1. However, it is possible to perform the ground treatment on the outer peripheral portion and the inner peripheral surface f1b of the lower surface f1a.

  For this reason, even in the case of the main pillar a configured such that the pipe diameter is expanded in a plurality of stages and steps downward, the lid h (see FIG. 14) is opened from the upper opening end of the main pillar a. By inserting the pipe substrate surface processing apparatus 1 into the column a, the inner surface of the main column a can be reliably subjected to the surface processing. Moreover, even for the main column a whose inner diameter greatly changes from the minimum diameter substantially determined by the length of the first arm 61 to the maximum diameter substantially determined by the total length of the first arm 61 and the second arm 62. There is an advantage that the ground surface treatment of the inner surface can be performed by one kind of the tubular ground surface treatment apparatus 1.

  In the above embodiment, the magnet 52e is provided on the rotating body 5 and the suction plate piece 61g is provided on the base end of the arm 6. However, the magnet is provided on the base end of the arm 6 and the suction plate. You may comprise so that a piece may be provided in the rotary body 5. FIG. Moreover, when the base end part of the other party rotary body 5 or arm 6 attracted by the magnet is formed of a magnetic body, the suction plate piece may not be provided. In this case, the magnet (temporary holding means) may be provided on at least one of the rotating body 5 and the base end of the arm 6.

  Further, in the vicinity of the air motor 401, as shown in FIG. 12, a position corresponding to the air supply hose 401 a as an air flow path connected to the air supply port 4011 of the air motor 401, or an exhaust port 4012 of the air motor 401 is connected. You may comprise so that solenoid valve 403A, 403B may be arrange | positioned in the position corresponding to the exhaust hose 401b as an air flow path, respectively.

  12A shows an example in which the solenoid valve 403A is provided only at a position corresponding to the air supply hose 401a on the air supply port 4011 side, and FIG. 12B shows an exhaust hose 401b on the exhaust port 4012 side. FIG. 12C shows an example in which electromagnetic valves 403A and 403B are provided at positions corresponding to the air supply hose 401a and the exhaust hose 401b, respectively. ing.

  In these examples, the electromagnetic valves 403A and 403B are directly attached to the positions of the air supply port 4011 and the exhaust port 4012 in the air motor 401, and at the position closest to the air motor 401, the air supply hose 401a. The flow path of the exhaust hose 401b can be opened and closed. However, although these solenoid valves 403A and 403B are slightly apart from the air supply port 4011 and the exhaust port 4012, they are located at positions of the air supply hose 401a and the exhaust hose 401b in the vicinity of the air supply port 4011 and the exhaust port 4012. You may comprise so that it may each provide. If the exhaust of the air motor 401 is configured to be discharged from the exhaust port 4012 into the main pillar a without providing the exhaust hose 401b, as shown in FIGS. 12 (b) and 12 (c), The electromagnetic valve 403B is directly provided at the exhaust port 4012. However, the exhaust air of the air motor 401 in that case is discharged from the exhaust port 4012 into the main pillar a through the electromagnetic valve 403B.

  The solenoid valves 403A and 403B hold the flow paths of the air supply hose 401a and the exhaust hose 401b in a closed state at a neutral position where no voltage is applied to the solenoid, and when the voltage is applied to the solenoid. Each channel is configured to open. In the air motor 401, high-pressure air supplied from a pneumatic source (not shown) flows into the air motor 401 from the air supply port 4011 and flows out from the exhaust port 4012, so that the rotation output shaft 4a is in a quasi-direction (see FIG. 5). Rotate in the indicated rotation direction F).

  As described above, when the electromagnetic valves 403A and 403B are provided in at least one position of the air supply hose 401a and the exhaust hose 401b in the vicinity of the air motor 401, one of the electromagnetic valves 403A and 403B is closed. As long as high-pressure air acts on the air supply port 4011 side of the air motor 401, the air motor 401 does not operate and the rotation output shaft 4a does not rotate. In this case, even if the flow path from the air pressure source to the air supply port 4011 is long, no pressure loss occurs unless air flows through the flow path. The predetermined air pressure (that is, the original pressure) acts on the vicinity of the air motor 401.

  That is, as shown in FIG. 12A, when only the electromagnetic valve 403A is provided in the vicinity of the air supply port 4011, the original pressure of the air pressure source acts to the position of the electromagnetic valve 403A. . In addition, as shown in FIG. 12B, when only the solenoid valve 403B is provided in the vicinity of the exhaust port 4012, the solenoid valve 403B of the solenoid valve 403B is supplied from the air supply port 4011 through the air motor 401 and the exhaust port 4012. The original pressure of the air pressure source acts to the position. Further, as shown in FIG. 12C, when both of the solenoid valves 403A and 403B are provided in the vicinity of the air supply port 4011 and the exhaust port 4012, either one of the solenoid valves is opened or opened. By closing, the original pressure of the air pressure source can be applied to the position of the electromagnetic valve 403A or the position of the electromagnetic valve 403B via the inside of the air motor 401 or the like.

For this reason, as shown in FIG. 12 (a), when only the solenoid valve 403A is provided on the air supply port 4011 side, when the solenoid valve 403A is switched from closed to open, the air pressure has already reached the position immediately before the solenoid valve 403A. High-pressure air that is at the source pressure (for example, 1.5 to ² kg / cm ² ) flows into the air motor 401 at a stretch, and a predetermined torque is generated in the air motor 401, so that the rotation output shaft 4 a The rotation is started with a predetermined angular acceleration, whereby the attracting plate piece 61g is separated from the magnet 52e, and the rotation output shaft 4a is in a predetermined rotation state in a predetermined time. When the surface treatment of the inner surface of the steel pipe is performed, the rotational output shaft 4a rotates with a large angular acceleration by increasing the source pressure (for example, 3 to 4 Kg / cm ² ) of the air pressure source in order to make the rotation faster. The ground treatment tool 7 comes into contact with the cylindrical inner peripheral surface of the main pillar a. For this reason, it removes foreign matters such as dust adhering to the inner peripheral surface of the cylinder of the main pillar a, roughens the inner peripheral surface of the cylinder, and if rust is generated, performs ground treatment such as removal of the rust. be able to.

In addition, as shown in FIG. 12B, when only the solenoid valve 403B is provided on the exhaust port 4012 side, when the solenoid valve 403B is switched from closed to open, the high-pressure air already filled in the air motor 401 is obtained. Flows out of the exhaust port 4012 at a stroke, a predetermined torque is generated in the air motor 401, and the rotation output shaft 4a starts to rotate with a predetermined angular acceleration, whereby the attracting plate piece 61g is pulled away from the magnet 52e. At the same time, the rotation output shaft 4a is in a predetermined rotation state in a predetermined time. When the surface treatment of the inner surface of the steel pipe is performed, the rotational output shaft 4a rotates with a large angular acceleration by increasing the source pressure (for example, 3 to 4 Kg / cm ² ) of the air pressure source in order to make the rotation faster. The ground treatment tool 7 comes into contact with the cylindrical inner peripheral surface of the main pillar a. For this reason, it removes foreign matters such as dust adhering to the inner peripheral surface of the cylinder of the main pillar a, roughens the inner peripheral surface of the cylinder, and if rust is generated, performs ground treatment such as removal of the rust. be able to.

  Furthermore, as shown in FIG. 12C, when each of the solenoid valves 403A and 403B is provided on the air supply port 4011 side and the exhaust port 4012 side, either one of the solenoid valves 403A and 403B is opened. When the other is closed and the other is switched from closed to open, only the solenoid valve 403A is provided on the air supply port 4011 side, and only the solenoid valve 403B is provided on the exhaust port 4012 side. Both effects can be achieved. That is, it is possible to adjust the rising time until the rotation output shaft 4a rotates at a predetermined high speed in two steps. Further, when the rotation output shaft 4a is driven, control is performed only by the solenoid valve 403B on the exhaust port 4012 side (that is, meter-out control), and when the rotation output shaft 4a is stopped, the solenoid on the air supply port 4011 side is controlled. By configuring so that only the valve 403A is controlled (that is, meter-in control), the rotation output shaft 4a can be brought up to a predetermined rotation state in a predetermined time, and a shock when the rotation output shaft 4a is stopped. Can be relaxed.

  The arm 6 rotates at the same speed as the rotation output shaft 4a, but the centrifugal force acting on the arm 6 is proportional to the square of the angular velocity of the rotation output shaft 4a. The angular velocity is the same for both the air supply port 4011 side and the air exhaust port 4012 side, even when only the electromagnetic valve 403A is provided on the air supply port 4011 side and when only the electromagnetic valve 403B is provided on the exhaust port 4012 side. Even when the solenoid valves 403A and 403B are provided, a predetermined rotation state is achieved in a predetermined time. That is, a predetermined centrifugal force acts on the arm 6 at a predetermined time after the rotation output shaft 4a starts to rotate. Therefore, the time from the start of driving of the air motor 401 to the surface treatment tool 7 reaching the cylindrical inner peripheral surface of the steel pipe P can be kept within a predetermined time, and the efficiency of the surface treatment can be improved.

  In addition, when only the electromagnetic valve 403A is provided on the air supply port 4011 side, or when only the electromagnetic valve 403B is provided on the exhaust port 4012 side, the electromagnetic valve 403A, respectively on the air supply port 4011 side and the exhaust port 4012 side. Even when 403B is provided, a predetermined centrifugal force can be applied to the arm 6 in a predetermined time after the rotation of the rotation output shaft 4a is started. Therefore, a magnet that holds the arm 6 along the rotation center line 5a. There is also an advantage that the arm 6 can be smoothly swung toward the cylindrical inner peripheral surface side of the steel pipe P against the suction force of 52e.

  Regarding the angular velocity of the rotary output shaft 4a after the rotational speed reaches a steady state from the transient state where the rotational speed rises, the flow rate of the air flowing out from the air pressure source is adjusted by a flow rate adjustment valve (not shown). Value can be set.

  Moreover, in the said embodiment, although the example which comprised the arm 6 by the 1st arm 61 and the 2nd arm 62 was shown, as shown in FIG. 13, about the said arm 6, it extends linearly. It may be constituted by one member. Elements common to the constituent elements shown by the first arm 61 and the second arm 62 are denoted by the same reference numerals as those in FIG. The configuration other than the arm 6 is the same as that shown in the above-described embodiment.

  Also in the in-tube substrate processing apparatus 1 including the arm 6 made of one member configured as described above, the in-tube substrate processing apparatus including the arm 6 having the first arm 61 and the second arm 62 described above. 1 has the same operational effects. However, in the case of the arm 6 made of one member, the lower surface of the rib g shown in FIG. 10, the inner peripheral surface portion of the flange joint portion f1 adjacent to the lower surface below, or the step portion shown in FIG. Background processing is difficult for the lower surface f1a and the portion of the inner peripheral surface f1b of the flange joint portion f1 adjacent to the lower surface f1a.

  Furthermore, although the camera 82 and the illumination means 83 showed the example provided in the joint part 8 in the front-end | tip part of the guide apparatus 2, about these cameras 82 and the illumination means 83, the ground processing by the ground processing tool 7 is nearer. It may be configured to be provided at the tip side portion of the rotation drive unit 4 so that the above situation can be confirmed.

  Furthermore, as shown in FIGS. 14 and 15, the illumination means 83 and the camera 82 are positioned obliquely below (inside the main column a (steel pipe P) corresponding to the ground processing tool 7) at an upper position of the rotation drive unit 4. The surface portion may be provided so as to be capable of photographing at least in the direction in which illumination and photographing are performed) and obliquely upward (in the direction in which at least the inner surface of the tubular body located in the direction of the proximal end of the guide device 2 is illuminated and photographed) Good. In this case, the illumination means 83 and the camera 82 are provided in each of the lower joint portion 801 and the upper joint portion 802, so that oblique lower and upper oblique photographing is possible. The illumination means 83 and the camera 82 provided in the lower joint portion 801 are synonymous with the first illumination means 83a and the first camera 82a, and the illumination means 83 and the camera 82 provided in the upper joint portion 802 are the second illumination. It is synonymous with the means 83b and the 2nd camera 82b.

  The lower joint portion 801 is formed in a disc shape having a predetermined thickness, and is coaxially mounted on the base end cover 40 b at the upper end portion of the rotation driving portion 4. In the vicinity of the outer peripheral portion of the lower joint portion 801, a storage hole 8a of the first camera 82a is provided at each position divided into four equal parts in the circumferential direction. The storage hole 8a is opened on the lower surface of the lower joint portion 801 facing the base end cover 40b, and the opening allows the first camera 82a to shoot obliquely downward. That is, the first camera 82a provided in each storage hole 8a in the lower joint portion 801 can check the inner surface of the main pillar a, the ground treatment status of the inner surface of the main pillar a by the ground treatment tool 7, and the like. ing.

  Furthermore, a first illumination means 83a is provided on the lower surface of the lower joint portion 801 at a position close to each storage hole 8a and closer to the center of the lower joint portion 801 in the radial direction. Each 1st illumination means 83a is comprised by three LED in this example.

  And in the outer shell part 40a of the rotational drive part 4, the light emitted from the 1st illumination means 83a to the position corresponding to each 1st camera 82a and the 1st illumination means 83a on the inner surface side etc. of the main pillar a A reflecting plate 85 that reflects the light is provided. Each reflecting plate 85 is formed on the lower surface of the lower joint portion 801 so as to surround each first illumination unit 83a and the first camera 82a in a trapezoidal concave shape from a position near the center of the lower joint portion 801. . Each reflector 85 is formed so as to extend from the lower surface of the lower joint portion 801 to the tip cover 40c with a substantially constant width and gradually become shallower toward the tip cover 40c. In addition, the depth of each reflecting plate 85 at the upper surface position of the tip cover 40c is substantially zero.

  On the other hand, the upper joint portion 802 is formed in the same shape as the lower joint portion 801, and is coaxial on the lower joint portion 801 with the surface corresponding to the lower surface of the lower joint portion 801 facing upward. They are connected in a state where they are overlapped. That is, the upper joint portion 802 is vertically moved so that the upper surface corresponds to the lower surface of the lower joint portion 801, and the second illumination means 83b and the second camera 82b are connected to the first illumination means 83a and the first camera 82a. It is provided so that it may be a vertical object. The outer peripheral surfaces of the lower joint portion 801 and the upper joint portion 802 are covered with a cylindrical outer plate 84. The outer plate 84 functions as a decorative plate, a protective plate, and the like, and functions as a member that coaxially connects the lower joint portion 801 and the upper joint portion 802.

  The upper joint portion 802 is coaxially connected to the guide device 2 by a connecting casing 80. The connecting casing 80 has a cylindrical outer shell portion 80 a having substantially the same diameter as the outer shell portion 21 of the guide device 2, and a base end portion of the outer shell portion 80 a is connected to the distal end cover 20 a of the guide device 2. ing. Further, the connecting casing 80 is provided with a tip cover 80b at the tip of the outer shell portion 80a, and the tip cover 80b is coaxially connected to the upper joint portion 802.

  In the outer shell 80a of the connecting casing 80, the light emitted from the second lighting means 83b is placed on the inner surface of the main pillar a at positions corresponding to the second lighting means 83b and the second camera 82b in the upper joint 802. A reflecting plate 80c that reflects to the side or the like is provided. Each reflector 80 c is formed on the upper surface of the upper joint portion 802 so as to surround each illumination means 83 and the camera 82 in a trapezoidal concave shape from the position near the center of the upper joint portion 802. Each reflector 80c is formed so as to extend from the upper surface of the upper joint portion 802 to the tip cover 20a with a substantially constant width and gradually become shallower toward the tip cover 20a. In addition, the depth of the reflecting plate 80c at the lower surface position of the tip cover 20a is substantially zero.

  Here, the set of the first illumination means 83a and the first camera 82a provided at each position divided in four in the circumferential direction is the first photographing device, and the set of the second illumination means 83b and the second camera 82b is the second. When the photographing apparatus is used, the first and second photographing apparatuses are controlled by a photographing control unit (not shown). In addition, it is possible to project the inner surface of the main pillar a in the circumferential direction without omission by the four sets of first imaging devices. The same applies to the second imaging device.

  The imaging control device is configured to be able to select at least two types of display switching circuits, an automatic display switching circuit and a manual display switching circuit. Furthermore, the automatic display switching circuit can be switched to either the first automatic display switching circuit or the second automatic display switching circuit.

  In the state of switching to the first automatic display switching circuit, the first illumination unit 83a and the first camera 82a in the four sets of the first imaging device provided in the lower joint portion 801 are all turned on, Images taken by one camera 82a are sequentially switched and displayed on one monitor. In this case, the video of each camera 82 is sequentially switched in a certain circumferential direction in the lower joint portion 801 at a predetermined time interval.

  Even in the state of switching to the second automatic display switching circuit, as in the case of the first automatic display switching circuit, the second illuminating means 83b, 2 The camera 82b and the monitor are controlled. The same monitor is used for both the first automatic display switching circuit and the second automatic display switching circuit.

  In addition, the photographing control device may be capable of switching to a third automatic display switching circuit in which both the first automatic display switching circuit and the second automatic display switching circuit function simultaneously. In this case, when there is a single monitor, the screen of the monitor is divided into, for example, top and bottom, and the video of each first camera 82a of the lower joint portion 801 is displayed on the lower side, and the upper joint portion 802 is displayed on the upper side. It is possible to display an image of each second camera 82b. In addition, a monitor that displays only the video of each first camera 82a in the lower joint portion 801 and a monitor that displays only the video of each second camera 82b in the upper joint portion 802 may be provided exclusively for each.

  In the state of switching to the manual display switching circuit, the illumination means 83 and the camera of a specific one set of the photographing devices among the four sets of the first photographing device and the second photographing device in the lower joint portion 801 and the upper joint portion 802. It is possible to select 82 and turn it on, and to display the video of the specific camera 82 on one monitor. That is, the manual display switching circuit can display the image on the monitor when the operator selects one specific camera 82, for example. However, it may be configured such that two or more sets of photographing devices are selected and images of two or more cameras are displayed on the monitor. The monitor in this case may be displayed by dividing one screen into a plurality of screens or may be displayed using a plurality of monitors.

  When the illumination unit 83, the camera 82, the photographing control device, and the like are provided as described above, a state in which the inner surface of the main pillar a is ground-treated by switching to the first automatic display switching circuit, for example. It can be confirmed on one monitor over the entire circumference. In addition, by switching to the specific camera 82 by the manual display switching circuit, there is also an advantage that the ground processing can be performed while carefully monitoring a specific portion on the inner surface of the main pillar a.

  Further, when pulling up the entire tubular substrate processing apparatus 1, for example, the upper part in the main pillar a can be confirmed by switching to the second automatic display switching circuit. Therefore, even when the rib g described above protrudes into the main pillar a, the tubular substrate treating apparatus 1 can be pulled up from the main pillar a while preventing the rib g from being caught.

  Furthermore, by switching to the third automatic display switching circuit, the ground processing part on the inner surface of the main pillar a and the upper part of the inner surface of the main pillar a can be simultaneously performed on a monitor (one or two or more). Since it can be confirmed, there is an advantage that the ground surface treatment can be safely performed on the inner surface of the main pillar a while moving the tubular body surface treatment apparatus 1 upward, for example.

  Therefore, by providing the illumination means 83, the camera 82, the photographing control device, and the like, it is possible to increase the efficiency of the ground processing in the main pillar a.

  Note that the lower joint portion 801 and the upper joint portion 802 may be integrated.

DESCRIPTION OF SYMBOLS 1 Subsurface processing apparatus in pipe 2 Guide apparatus 2a Axis 3 Work apparatus 4 Rotation drive part 4a Rotation output shaft 5 Rotating body 5a Rotation center line 6 Arm 7, 71 Ground treatment tool 22 Leg part 52e Magnet (temporary holding means)
53 swing support pin 53a axis 60 rotation pin 60a axis 61 first arm 61a lift generation unit 62 second arm 82 camera 82a first camera 82b second camera 83 illumination means 83a first illumination means 83b second illumination means 401 Air motor 401a Air supply hose (air flow path)
401b Exhaust hose (air flow path)
403A, 403B Solenoid valve 4011 Air supply port 4012 Exhaust port a Main column q Flow direction P Steel pipe (pipe)
α angle of attack

Claims (11)

In-pipe base treatment apparatus used for pre-treatment of the inner surface of the tubular body in a tubular structure having a circular tubular metal tube,
A guide device having legs that are inserted into the tube and guide the axis to a position corresponding to the center line of the tube;
A working device disposed on the distal end side, which is the side that is first inserted into the tubular body in the guide device,
The working device includes a rotation driving unit, a rotating body connected to a rotation output shaft of the rotation driving unit and driven to rotate about the axis of the guide device, and a distal end portion of the tube body. An arm whose base end is swingably connected to the rotating body via a swing support pin so as to be movable in a direction away from and in contact with the inner peripheral surface of the cylinder, and is attached to a distal end of the arm. And a ground treatment tool provided so as to protrude from the tip portion toward the tip side,
The tubular substrate processing apparatus, wherein the swing support pin is disposed at a position spaced in a radial direction from a rotation center line of the rotating body.   2. The tubular substrate processing apparatus according to claim 1, wherein a plurality of the swing support pins are provided at predetermined intervals around the rotation center line.   3. The pipe substrate processing apparatus according to claim 1, wherein an axis of the swing support pin is directed in a tangential direction of a circle centering on a rotation center line of the rotating body. The arm is provided with a lift generating part,
The lift generation unit is configured to move the air flow relative to a direction of air flow that is relatively generated based on the rotation of the rotating body around the rotation center line in a state where the arm exists on the distal end side of the rotating body. 4. The in-pipe foundation treatment according to claim 1, comprising an angle of attack inclined in a direction at least away from the rotation center line in a direction opposite to the direction of apparatus.   In a state where the arm extends to the distal end side of the guide device so as to follow the rotation center line, temporary holding means for holding the base end portion of the arm to the rotating body with a predetermined force is the rotating body and the arm The base material processing apparatus in a tubular body according to any one of claims 1 to 4, wherein the base material processing apparatus is provided on at least one of the base end portions. The arm has a configuration including a first arm located on the proximal end side and a second arm located on the distal end side,
The base end portion of the first arm is swingably connected to the rotating body via the swing support pin, and the tip end portion thereof is connected to the base end portion of the second arm and the rotation pin. Are pivotally connected,
The ground treatment tool is provided at the tip of the second arm so as to protrude from the tip to the tip side,
The pivot pin has a direction along a plane perpendicular to the axis of the swing support pin, and is oriented in a direction substantially perpendicular to a direction in which the first arm extends. The tubular substrate treating apparatus according to any one of claims 1 to 5. The rotational output shaft in the rotational drive unit is configured to be rotationally driven by an air motor,
In the vicinity of the air motor, a solenoid valve is disposed at a position corresponding to at least one of the air flow path on the air supply port side of the air motor and the air flow path on the exhaust port side of the air motor,
The tubular base material processing apparatus according to claim 1, wherein the electromagnetic valve is configured to be capable of closing and opening the air flow path.   It is arranged so as to be positioned in the direction of the base end side of the guide device with respect to the ground treatment tool, and is directed in a direction to illuminate at least a portion of the inner surface of the tubular body corresponding to the ground treatment tool. A first illuminating means and a first camera directed at least in the direction of photographing the inner surface portion, and in a direction toward the proximal end of the guide device with respect to the first illuminating means and the first camera; A second illuminating means arranged to be located, and oriented in a direction to illuminate at least the inner surface of the tubular body located in the direction of the proximal end of the guide device from the arranged position, and the inner surface The tubular substrate processing apparatus according to any one of claims 1 to 7, further comprising a second camera directed at least in a shooting direction. The first imaging device including the first illumination unit and the first camera, and the second imaging device including the second illumination unit and the second camera are centered on a line corresponding to the axis of the guide device. Is provided at each position that is equally divided in the circumferential direction,
9. The tubular substrate processing apparatus according to claim 8, further comprising an imaging control device that displays at least one image of the plurality of first and second cameras on a monitor.   The imaging control device sequentially switches at least one of the plurality of first imaging devices and the plurality of second imaging devices in the circumferential direction, whereby the images of the plurality of first cameras and the plurality of second cameras are displayed. The tubular substrate processing apparatus according to claim 9, further comprising an automatic display switching circuit that sequentially displays at least one of the images on the monitor. The photographing control device manually selects a predetermined photographing device from the plurality of first photographing devices and the plurality of second photographing devices, and manually displays a camera image of the selected photographing device on a monitor. The in-tube substrate treating apparatus according to claim 9 or 10, further comprising a display switching circuit.

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