JP2627013B2 - Self-propelled pipe inner surface polishing / measuring device - Google Patents

Description

Description: BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to an apparatus for polishing and measuring the inner surface of pipelines such as gas and water pipes. The present invention relates to a self-propelled pipe inner surface polishing / measuring device capable of polishing and measuring at a position.

2. Description of the Related Art Gas inner surface polishing such as welding of pipelines such as gas and water pipes, and inner surface measurement such as eddy current flaw detection are generally performed using an inner surface polishing apparatus,
Alternatively, the measurement is carried out by using an automatic trolley system or a system using an external drive source such as a towing winch.

Among them, the automatic trolley system is generally a system in which a grinding trolley or a measurement trolley is connected to a drive trolley equipped with a motor, and the trolley is inserted into a pipeline, pushed out when moving forward, and towed when moving backward.

A bogie that can move freely even in a curved tube section is used as a driving bogie in this method (Japanese Utility Model Application Laid-Open No. 60-170260), but conventional self-propelled bogies have all means for supporting the bogie main body. Because the roller system is used, the support roller falls into the tube wall separation part or recess such as the sleeve joint that exists in the middle of the pipe, and the carriage does not move.If it hits the protrusion such as the plug projection, it slips and gets over. In such a case, the vehicle cannot run, and the situation inside the pipe cannot be observed, or the pipe inner surface is damaged.

In addition, the pipe inner surface polishing apparatus is provided with one or more rotating brushes driven by a motor on a traveling carriage provided with a traveling mechanism using a motor as a driving source and a fixing mechanism at a predetermined position in the pipe,
Generally, the rotating brush is brought into contact with the inner surface of the pipe to polish it.However, since the conventional polishing cart can only run on a straight pipe, the polishing of the inner face of the pipe is limited to the straight pipe only.
It could not be used for polishing a welded portion of a pipeline where a curved pipe portion exists.

As an apparatus for measuring the inner surface of a pipe in a pipeline, for example, a method in which a flaw detector is provided on a base that can travel in the pipe, and this base is inserted into the pipe to perform flaw detection (see JP-A-64-26143). However, it has been difficult for conventional in-pipe traveling means to detect a weld defect or the like of the pipe by applying the method to a pipeline having a curved pipe or the like.

In general, a connecting pin is used as a connecting means between the driving trolley and the various equipment mounted trolleys. In this connecting pin method, when each trolley passes through the bent pipe portion, the connecting portion contacts the inner surface of the pipe. In addition to the risk of damaging the inner surface and cables, there is a disadvantage that the passage performance of the curved tube portion is poor.

In addition, there is a method of connecting with a spring instead of the connecting pin method, but in the case of a spring, buckling is apt to occur, and depending on the degree, the spring hits the inner surface of the pipe, making it impossible to run or damaging the inner surface of the pipe. And lacks practicality.

SUMMARY OF THE INVENTION The present invention solves the problems of conventional roller-type self-propelled trolleys, that is, the problem of the inability of the trolley to run and the damage to the inner surface of the pipe caused by the support rollers of the drive trolley. It is possible to run smoothly without trouble regardless of the presence of obstacles such as bumps and irregularities, and it is also possible to measure the welding or the like of the welded pipe line where there is a curved pipe, or to measure the flaw detection. An object of the present invention is to provide a self-propelled pipe inner surface polishing / measuring apparatus using a connecting means which has good pipe passage performance and maintains a constant interval between the apparatuses and does not cause buckling.

Means for Solving the Problems The self-propelled pipe inner surface polishing / measuring device according to the present invention has a drive truck employing a crawler system as a traveling means of the truck, and a structure capable of freely and stably traveling even in a curved pipe portion. The present invention solves all of the above-mentioned problems of the conventional apparatus by using a polishing apparatus constituted by a cylindrical casing and a cylindrical joint made of a nylon spring having good passage performance of a curved pipe portion and causing no buckling. .

That is, the gist of the present invention is a plurality of driving bogies, a pipe inner surface polishing device or a pipe inner surface measuring device, or a pipe inner surface inspection / measuring device comprising the pipe inner surface polishing device and a pipe inner surface measuring device, wherein the driving bogie is A pair of crawlers arranged bifurcated in the same plane perpendicular to the tube axis and movable in the tube radial direction by elastic support means for applying an outward force, and the crawlers on the central tube axis of the crawlers; A crawler drive motor provided integrally, a differential mechanism for absorbing a circumferential length difference between an outer peripheral portion and an inner peripheral portion in a rotation transmission mechanism and a curved tube portion of the drive motor, and a guide roller provided at an end portion, There is no mechanism in which the crawler travels by pressing against the pipe inner surface, and the drive bogie and the pipe inner surface polishing device, or the drive bogie and the pipe inner surface measuring device, or the pipe inner surface polishing device and the pipe inner surface measuring device are connected via joints, respectively. Further, the pipe inner surface polishing apparatus is a cylindrical casing having a guide roller with a diameter expansion mechanism for making it movable in the pipe via a guide roller provided on the outer periphery and for fixing the pipe inside. A rotary cylinder, two of which are radially arranged and attached to the coupling shaft of the apparatus main body so as to rotate integrally therewith; A cup wire brush inserted into and retracted from a cylindrical body so as to be integrally rotatable, a mechanism for rotating the brush itself in the rotary cylinder, and a cup wire interlocked with a diameter increasing mechanism of the guide roller with the diameter increasing mechanism The structure has a brush diameter increasing mechanism and a TV camera for projecting an image of the polished part. Also, as a connecting means, a peripheral wall of a flat belt made of cloth such as a nylon sling is almost the same length as the cylindrical body. Sa The invention is to use a tubular joint having a plurality of iron cores having a connection belt formed in a peripheral wall of a cylindrical body, and having a connection belt formed by extending the core insertion side at both open ends of the cylindrical body. It is.

The drive truck is positioned at the center of the tube by a pair of bifurcated crawlers supported by an elastic supporting means such as a spring on the outside of the drive truck around the drive motor, and the crawler is appropriately positioned on the inner surface of the tube. Contact with a certain pressure, and travel in the pipe by the driving of the crawler.

When the drive bogie passes through the curved tube section, the difference in rotation between the inner crawler and the outer crawler is absorbed by the differential and smoothly travels.

Since the crawler has an appropriate length in the pipe axis direction, the crawler can smoothly pass through the pipe separation portion, the concave portion or the step portion in the pipe, and can pass over the convex portion such as the plug projection portion or the welding bead.

Since the crawler has a larger contact area with the inner surface of the pipe than the roller, the running in the pipe is stable.

Even if one of the driving bogies slips in the large pipe separating portion of the sleeve joint, the passage through the pipe separating portion can be easily performed by the traction force or the pushing force of the other driving bogie.

The guide rollers of the pair of cylindrical casings of the pipe inner surface polishing device are constituted by two types, a fixed type and a movable type.
The fixed type is composed of multiple rows of guide rollers fixed to the outer circumference so that it can pass smoothly through a curved pipe.The movable type has a function to fix the entire device inside the pipe according to the pipe diameter, so a motor etc. And a guide roller having a diameter expansion mechanism that operates via a link mechanism or the like with the above power.

The apparatus main body of the pipe inner surface polishing apparatus is integrated by connecting a pair of casings with a connecting shaft arranged at the center of the casing at a predetermined interval, and a rotation mechanism of a cup wire brush and a diameter expansion of the connecting shaft. The mechanism is installed.

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

At the part where the iron core is to be inserted, two flat belts made of cloth such as nylon sling are stacked, and the iron core is sandwiched between the two flat belts to stitch and fix four sides.

The iron core is arranged at equal intervals on the peripheral wall of the cylindrical body, the side between the iron cores is constituted by one flat belt, and two flat ends are provided at both open ends of the cylindrical body.
The connection core belt is formed by further extending the stacked core charging portion in the axial direction, and a fastening bolt hole is formed at the tip of the belt.

When connecting the devices, the ends of the connecting belt protruding from both ends are fastened to the front and rear ends of the device with bolts or the like.

The signal cable between the devices is wired through the tubular joint.

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

When the device passes through a curved pipe section, it bends at a constant distance by the action of the connecting belt part of the joint, and the iron core charging section abuts the pipe inner surface and impedes passage. Since the joint itself is made of nylon sling and the iron core is in a built-in state, it passes smoothly without damaging the inner surface of the pipe.

Embodiment FIG. 1 is a side view of an in-pipe driving bogie according to the present invention.
FIG. 3 is a front view of the same bogie, FIG. 3 is an enlarged vertical sectional view showing the structure from the drive motor to the differential, FIG. 4 is an enlarged vertical sectional view showing the structure of the differential, and FIG. FIG. 6 is a vertical front view showing an example of a tube inner surface eddy current flaw detector, FIG. 7 is a side view showing a coupling for use in the present invention, and FIG. 8 is VIII- of FIG. FIG. 9 is an enlarged vertical sectional front view taken along the line VIII, FIG. 9 is a side view partially omitted of an example of a self-propelled pipe inner surface polishing apparatus constituted by using two front and rear drive trucks, and FIG. Side view showing a part of an example of a self-propelled pipe inner surface measuring device constituted by using two front and rear parts, and FIG. 11 shows a self-propelled pipe inner surface polishing machine constituted by using two front and rear drive trucks. It is a side view which abbreviate | omits an example of a measuring device.

In FIGS. 1 to 4, (1) is a pair of crawlers arranged bifurcated in the same plane orthogonal to the tube axis,
The crawlers protrude from both sides of the differential gear box (2), and have a tip of a pair of arms (3) rotatably mounted on a driven shaft of a differential machine described later as a fulcrum so as to sandwich the gear box (2). It is pivoted to the department.

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

Reference numeral (8) denotes a drive motor for rotating the crawler (1) forward and backward, and each is fixed to the frame (9).
The telescopic rod (7) is fixed between the bracket (10) provided on the motor mounting frame (9) and the bracket (11) mounted on the side plate (4) of the crawler. .

As the rotation of the drive motor (8) shown in FIGS. 3 and 4, is transmitted to the gear _{V 1, V 2, V 3} , V 4, the worm wheel V ₆ from the worm V ₅ gears V ₄ coaxial transmitted to, is transmitted to the chain wheel fixed to a driven shaft (13) of the furnished differential gear with the worm wheel V ₆ (12) (14), is transmitted to the crawlers through a further chain-belt (15) ing.

Since the pair of crawlers (1) must rotate in the same direction, the rotation is transmitted to one of the crawlers via a chain belt direction changing gear (16) (FIGS. 1 and 2). Mechanism.

The differential machine (12) has four bevel gears K ₁ as shown in FIG.
Consists of ~K _4, facing the pair of bevel gears K ₁ and K ₃ to the driven shaft (13) is directly connected, the bevel gear when the balance of the left and right force becomes nonuniform a mechanism for rotating ing.

(17) is a guide roller mounted in the radial direction of the pipe, which is radially mounted on the front and rear differential gear boxes (2).

In addition, the crawler may be divided into plural in the longitudinal direction,
In order to prevent abrasion due to contact with the inner surface of the pipe, a wear-resistant material such as urethane may be attached to the surface, and a non-metallic crawler may be used.

As shown in FIG. 5, the pipe inner surface suspension apparatus connects a conical casing (21-1) (21-2) to a connecting shaft (21-
3) The apparatus main body (21) connected at 3), fixed guide rollers (22) provided at equal intervals on the outer periphery of the casing, and guide rollers with a diameter-enlargement mechanism provided at the same time on the outer periphery of the casing, for example, at three sets of 120 degrees. 23), wire brush rotating cylinder (2
4), cup wire brush (25), TV camera (2
6), a polishing motor (M ₁ ), a motor for expanding the guide roller (M ₂ ), and a motor for expanding the wire brush (M ₃ ).

Here, the fixed guide roller (22) is formed by rotatably mounting a plurality of rollers (22-2) between a pair of parallel side plates (22-1), each of which has a support leg. (twenty two
-3) to the casing.

For example, a pair of rollers (23-23) is provided on a slide rod (23-2) provided slidably in the radial direction on the front wall (21-4) of the opposing surfaces of both casings.
3) A disk (23-5) screwed movably in the tube axis direction to a threaded rod (23-4) provided between the partition (21-5) and the front wall (21-4) in the casing. ) To link (23-
6), the slide rod (23-2) is pivotally connected to the screw rod (23-5), and the slide rod (23-2) is operated in the pipe diameter direction by the forward and backward movement of the disk (23-5). 23-4)
Has a mechanism driven via a gear (drawing omitted) by guide roller diameter motor was installed in the partition wall (21-5) in the same casing (M _2).

The disk (23-5) is slidably supported on the connecting shaft (21-3) for stabilizing the operation and preventing rattling.

The rotation and revolving mechanism of the wire brush is connected shaft (21-
A set of three rotating cylinders (24) that are rotatably fitted to the 3) via bearings (28), for example, are provided at intervals of 120 degrees, are mounted on the partition wall (2).
Transmission shaft by grinding driving motor installed in 1-5) (M ₁₎ (27) and gear (G ₁₎ (G ₂₎ mechanism and without rotating through the cup wire to the rotating cylinder (24) The leg (25-1) of the brush (25) is rotatably and slidably fitted, and the bevel gear (31) attached to the end of the center shaft (30) of the brush leg (25-1) and the connecting shaft ( 21-3) is engaged with a bevel gear (32) provided integrally with the bevel gear (31) and the bevel gear (32) simultaneously with the rotation (revolution) of the rotating cylinder (24).
, The central shaft (30) and the wire brush leg (25-1) are integrally rotated (rotated).

The diameter increasing mechanism of the cup wire brush (25) is formed by a concave groove (25-) formed on the outer periphery of the leg (25-1) of the brush.
2) a long hole (25-3) provided on the side wall of the rotary cylinder (4);
The other end of the bifurcated link (34) to which the bush (33) that loosely fits through is attached to a movable body (35) slidably fitted to the connecting shaft (21-3), Wall (21-4)
And a threaded rod (36) horizontally penetrating the partition (21-5)
Is connected to the movable body (35), and a nut (37) screwed to the other end is rotated by a wire brush enlarging motor (M ₃ ) via a gear (not shown), thereby forming a screw rod ( 36) moves forward and backward, and the leg (25-1) of the cup wire brush (25) is moved via the movable body (35) integrated with the screw rod, the link (34) and the bush (33) into the rotary cylinder (24). ) Has a mechanism for sliding in the pipe radial direction, and the cup wire brush (25) is pressed against the pipe wall via a spring (25-4) fitted inside the leg (25-1).

The television camera (26) is attached to the rear part of one of the casings (21-1) by a suitable means, and a lens barrel (26-
1) is protruding.

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

Next, the motor (M ₃ ) for expanding the wire brush is driven to bring the cup wire brush (25) into contact with the inner wall of the tube, and then the polishing motor (M ₁ ) is driven to move the rotating cylinder (24). Rotate for polishing.

When the polishing is completed, the cup wire brush (25) is pressed against the inner wall of the tube to fix the device, and the fixing guide roller (23-3) of the casing (21-1) to which the television camera (26) is attached is contracted. By driving the polishing motor (M ₁ ) in the state of the diameter and rotating the casing (21-1), the polishing state can be observed over the entire circumference.

As shown in FIG. 6, a tube inner surface eddy current flaw detection device exemplified as a tube inner surface measuring device has a conical casing (41-).
1) The whole device (41) comprising (41-2), fixed guide rollers (42) provided at equal intervals on the outer periphery of the casing, and guide rollers with a diameter-expansion mechanism also provided at the outer periphery of the casing, for example, at three intervals of 120 degrees. (43), a rotating shaft (44), and a scanning device (45).

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

The fixed guide roller (42) is formed by rotatably mounting a plurality of rollers (42-2) between a pair of parallel side plates (42-1). ) Is attached to the casing.

A pair of rollers (43-2), for example, are mounted on a slide rod (43-1) provided slidably in the pipe diameter direction near the opposing surfaces of both casings, with the guide roller (43) having a diameter increasing mechanism. A link (43-3) is connected to a movable base (43-4) which is movably screwed in the tube axis direction to a screw shaft (43-3) provided horizontally in the casing.
-5), the slide bar (43-1) is pivotally connected to the movable base (43-4), and the slide bar (43-1) is operated in the pipe radial direction by the forward and backward movement of the movable base (43-4). Shaft (43-3)
Is a mechanism driven by a motor (43-6) provided in the casing via a gear (43-7).

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

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

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

The flaw detection sensor (45-11), which is attached to the scanner (45-3) and moves left and right, is attached to the flaw detection sensor holder (45-) on the screw shaft (45-8) provided in the scanner (45-3). 7), and a mechanism for rotating the screw shaft (45-8) by a motor (45-9) attached to the scanner. The sensor is held by a holder with a spring and is constantly pressed against the tube wall.

The Teflon plate (45-10) has both ends bent at right angles and the relevant parts are screwed to the scanner (45-3), on which the sensor (45-11) slides left and right. ing.

In the above apparatus, the guide roller (43) with a diameter-expanding mechanism is reduced in diameter during traveling in the pipe, and the diameter of the guide roller is expanded when the guide roller is located at a measurement location, thereby fixing the entire apparatus.

When performing flaw detection, use the scanner drive motor (45-
In 4), the scanner (45-3) is moved to the surface to be inspected, and the flaw detection sensor (45-11) is moved over the Teflon plate while the Teflon plate (45-10) is in contact with the surface to be inspected. Scan left and right.

When changing the measurement position in the circumferential direction, the entire scanning device is rotated around the rotation axis by the rotation shaft drive motor (44-1) to position the scanning device, and the same operation is performed at the position to perform flaw detection.

The joint (50) for connecting the drive trolley to the tube inner surface flaw detector or the tube inner surface measuring device may have the structure shown in FIGS. 7 and 8. Here, a case where a nylon belt is used for a flat belt and four iron cores are used will be described as an example.

The structure of the joint body consists of two nylon slings (50-1) and (50-2) in which the iron core is inserted, and a steel plate iron core (50-4) of a predetermined length is inserted between them. In a sandwich-like state, a nylon sling without iron core (about 50-
3) Nylon slings (50-
1) (50-2) and (50-3) are sutured to fix the iron core (50-4).

In this way, the two ends of the nylon sling (50-1) (50-2) containing the same iron core and the nylon sling (50-3) without the iron core are sewn together to form a section 8 Form a rectangular cylinder.

The two nylon slings (50-1) and (50-2) of the portion containing the iron core are provided at both open ends of this octagonal cross-section cylindrical body.
Of the connection belt (50
-5). A fastening bolt hole (50-6) is provided at the tip of this belt.

The self-propelled pipe inner surface polishing apparatus shown in FIG. 9 is configured by connecting the drive carriage (111) to the front and rear of the pipe inner surface polishing apparatus (211) via the cylindrical joint (50). .

The self-propelled pipe inner surface measuring device shown in FIG. 10 is configured by connecting a drive bogie (111) via a tubular joint (50) before and after a tube inner surface measuring device (444) such as the eddy current flaw detector described above. doing.

The self-propelled pipe inner surface polishing / measuring device shown in FIG. 11 connects a tube inner surface polishing device (211) and a tube inner surface measuring device (444) via a cylindrical joint (50), and has a front part and a rear part. The driving trolley (111) is connected and comprised.

In this case, when the drive bogie is connected to each device by using the tubular joint, the distal ends of the plurality of connection belts (50-5) protruding from both ends of the tubular joint (50) are connected to the respective ends. Fasten to the end with bolts.

Therefore, the driving bogie (111) and the pipe inner surface polishing device (21)
1) or the driving bogie and pipe inner surface measuring device (444)
Or tube inner surface polishing device (211) and tube inner surface measuring device (444)
However, even when they come close to each other, the four iron cores (52) inserted at equal intervals into the peripheral wall of the cylindrical body serve as stoppers and do not collide and do not buckle, so that a predetermined interval is maintained. .

Furthermore, even at the time of passing through the curved pipe portion, a constant interval is maintained by the iron core, and even if it comes into contact with the inner surface of the pipe, it is made of nylon sling, so that it can pass smoothly without damaging the inner surface of the pipe. .

Effect of the Invention As described above, the in-pipe driving cart according to the present invention is composed of one drive motor and a crawler arranged bifurcated around the motor, so that the pipe separating portion and the recess in the pipe are provided. , Can smoothly pass through a step portion and the like, and can also smoothly go over a projection such as a plug projection or a welding bead.

It is also relatively simple in structure and small in size, so it is advantageous in terms of cost, and it is not heavy enough to use a crane, so it can be handled and carried. It can be done easily.

In addition, the crawler has a larger contact area with the inner surface of the pipe than the roller, and the driving bogie itself is small, so that even if a plurality of the crawlers are connected, the passage property of the curved pipe section such as a bend section is good, and further, the pipe separation of the sleeve joint section. The passage of the part is good, the vehicle can travel in the vertical direction, and a large driving force can be obtained, so that a heavy device can be pulled or pushed.

As described above, the in-pipe driving bogie can smoothly and stably run the in-pipe inner surface imaging device, the inspection apparatus equipped with various sensors, the in-pipe inner surface polishing apparatus, etc., even in a long pipe including a curved pipe such as a buried pipe. It is excellent in performance, mobility and the like as compared with a conventional roller-supporting traction truck.

Further, the pipe inner surface polishing apparatus is designed so that the apparatus body can smoothly run even in a curved pipe portion, so that the pipe body can freely travel in the pipe even if any of the traveling means of the traction type or the driving bogie type is applied. The apparatus can be easily and quickly positioned at a polishing location, and polishing can be performed by positioning the apparatus main body at the center of the tube axis by the action of a guide roller with a diameter expanding mechanism.

In addition, since the cup wire brush has not only a rotating and revolving mechanism but also a diameter expanding mechanism, the cup wire brush can be moved away from the inner surface of the pipe while running in the pipe, and can smoothly pass through the curved pipe portion. In addition, since the brush has a function of being pressed against the inner wall of the tube by a spring, the brush can follow and grind even if there is some eccentricity.

Further, since the television camera for photographing the polishing section is provided, it is easy to observe the polishing state and confirm the polishing position, and it is possible to perform polishing with high accuracy.

Further, since the joint according to the present invention is a cylindrical joint formed by inserting a plurality of iron cores into a peripheral wall of a cloth flat belt made of a cloth such as nylon sling, a compressive force in the pipe axis direction acts on the joint. Even if it does not buckle, it is possible to maintain a predetermined interval and avoid collision between devices.

Also, in the curved pipe section, not only is the iron core always kept at a fixed interval, but also because it is made of a flat belt made of cloth such as nylon sling, it can pass smoothly without damaging the inner surface of the pipe Is also excellent.

In addition, since the signal cables also pass through the inside of the cylinder, they are not damaged.

Further, a sufficient tensile force can be obtained in terms of material, and there is no breakage or damage during traveling, and the durability is high, so that stable traveling can be expected.

[Brief description of the drawings]

FIG. 1 is a side view of a guide bogie according to the present invention, FIG. 2 is a front view of the bogie, FIG. 3 is an enlarged vertical sectional view showing a structure from a drive motor to a differential, and FIG. FIG. 5 is an enlarged vertical sectional view showing the structure of the motive, FIG. 5 is a vertical sectional side view showing an example of the pipe inner surface polishing apparatus, FIG. 6 is a vertical sectional front view showing an example of the pipe eddy current flaw detector, and FIG. FIG. 8 is an enlarged vertical sectional front view taken along line VIII-VIII of FIG. 7, and FIG. 9 is a self-propelled pipe inner surface polishing apparatus constructed by using two front and rear drive trucks. Side view, showing an example
FIG. 10 is a side view showing an example of a self-propelled pipe inner surface measuring device configured by using two front and rear drive trucks, and FIG. 11 is a self-propelled pipe inner surface configured by using two front and rear drive trucks. It is a side view which shows an example of a grinding and measuring device. DESCRIPTION OF SYMBOLS 1 ... Crawler, 3 ... Arm 7 ... Telescopic rod, 8 ... Drive motor 12 ... Differential machine, 13 ... Driven shaft 14 ... Chain wheel, 16 ... Direction conversion gear 17 ... Guide roller, 21 … Polishing machine body 21-1, 21-2… Casing 21-3… Connecting shaft 22… Fixed guide roller 23… Guide roller with diameter expansion mechanism 24… Wire brush rotating cylinder 25… Cup Wire brush 26 TV camera 41 Eddy current flaw detector main body 45 Scanning device 50 Joint 111 Driving carriage 211 Pipe inner surface polishing device 444 Pipe inner surface measuring device

Continued on the front page (72) Inventor Yasuji Hosohara 1-5-20 Kaigan, Minato-ku, Tokyo Inside Tokyo Gas Co., Ltd. (72) Michio Ozawa 4-1-2, Hirano-cho, Chuo-ku, Osaka-shi, Osaka Osaka Inside Gas Co., Ltd. (72) Inventor Isamu Yamada 19-18 Sakuradacho, Atsuta-ku, Nagoya-shi, Aichi Prefecture Inside Toho Gas Co., Ltd. (56) References JP-A-63-170180 (JP, A) JP-A-59-125469 (JP, U)

Claims (3)

(57) [Claims] 1. A tube inner surface polishing / measuring device comprising: a plurality of driving bogies; a traveling tube inner surface polishing device or a tube inner surface measuring device; or the tube inner surface polishing device and a tube inner surface measuring device; Are a pair of crawlers arranged bifurcated in the same plane perpendicular to the tube axis and movable in the tube radial direction by elastic supporting means for applying an outward force, and the crawlers are located on the central tube axis of the crawlers. A crawler drive motor, a differential mechanism for absorbing a difference in circumference between an outer peripheral portion and an inner peripheral portion of a curved tube portion, and a guide roller attached to an end portion. No mechanism for the crawler to travel while pressing against the inner surface of the pipe, the drive truck and the inner surface polishing device of the tube, or the drive truck and the inner surface measuring device of the tube, or the inner surface polishing device and the inner surface of the tube through the joint, respectively. Linked Self-propelled pipe inner surface abrasive-measuring device is characterized in that no configured. 2. A pipe inner surface polishing apparatus is provided with a cylindrical casing provided with a guide roller having a diameter-expanding mechanism for making it movable in a pipe via a guide roller provided on the outer periphery and for fixing the pipe at a predetermined position in the pipe. A plurality of radially arranged rotary cylinders mounted on the connecting shaft to rotate integrally with the coupling shaft, and removably fitted and inserted into the same cylindrical body to rotate integrally with the rotary cylinder. A cup wire brush and a mechanism for rotating the brush itself in the rotary cylinder, a cup wire brush expanding mechanism interlocked with a diameter expanding mechanism of the guide roller with the diameter expanding mechanism, and a television camera for displaying an image of the polishing section The self-propelled pipe inner surface polishing / measuring device according to claim 1, further comprising: 3. A joint, wherein a plurality of iron cores having substantially the same length as the tubular body are built into the circumferential wall of the tubular flat belt made of cloth such as nylon sling at equal intervals on the circumferential wall of the tubular body. The self-propelled pipe inner surface polishing / measuring device according to claim 1, comprising a cylindrical joint having a connection belt formed by extending the core insertion portion at both open end portions of the tube.