JP3510481B2 - Pipe repair welding equipment - Google Patents

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a pipe collecting and welding apparatus applied to the repair welding of the outer peripheral surface of a large-sized pipe, and particularly to a large-sized pipe group that stands on the floor surface like a ship structure or various industrial plants. The present invention relates to a pipe repair welding device for sequentially welding pipes.

[0002]

2. Description of the Related Art Conventionally, in order to repair the outer peripheral surface of a pipe, a repairing device is known, in which a defective portion of the outer peripheral surface of the pipe is shaved off, and then an insert material which becomes a part of the pipe is put in for repair. There are many devices used for repairing the outer peripheral surface of a pipe, and it is installed in a narrow space of pipes at a pipe interval like a large pipe group that stands on the floor in a ship structure or various industrial plants. There was no repair welding equipment that could handle repairs.

[0003]

However, repair welding of the pipe located in the central portion of the pipe group installed in a forest as shown in FIGS. 6 to 9 requires the operator to work on the space between the pipes. It is difficult to enter the center part, and work from the outside of the pipe is far from the work area, which hinders the non-target pipe.
Welding work cannot be done manually.

Further, the conventional automatic welding device for welding the outer peripheral surface of the pipe is also inaccessible due to a narrow space and a long working place. In addition, since there is no one that has a mechanism to insert and mount the insert material as a function, after positioning the insert material after scraping off the defective part and mounting it on the target part,
There was nothing that could weld the insert material by itself. further,
Even if the insert material is tentatively attached, if it is tentatively attached one by one, due to the welding strain after tentative attachment, the gap with the groove portion after scraping the defective part widens, and if it is not corrected, it will melt down and melt. Defects etc. occur and it becomes impossible to perform sound welding thereafter. For these reasons, the reality is that there was no automatic welding device that puts insert material into pipes installed in a forest and repairs them.

The present invention solves the problems of the prior art by providing a pipe repair welding apparatus which can easily carry out repair welding work even when repairing pipes located in the central region of a forested pipe group with no space. It is intended to be provided. That is, the present invention is a repair welding in which even a pipe in the central portion of a forested pipe group with no space is easily repaired by remotely scraping the defective portion of the pipe and then inserting an insert material that becomes a part of the pipe for repair. It is an object of the present invention to provide a welding device that can work.

[0006]

In order to solve such a technical problem, the invention according to claim 1 is a pipe repair welding apparatus for repairing and welding a defective portion of a large pipe group which stands on a floor surface, A bogie capable of traveling on a rail laid between the pipe groups on the floor, a turning shaft having a cutout portion on a surface facing the pipe and capable of advancing and retreating toward the pipe center, and provided on the turning shaft. A turntable, an insert supply mechanism having a front-rear shaft and an insert gripper that can be moved forward and backward toward the center of the pipe on the turntable, and a welding torch mechanism on the turntable, Preferably, as described in claim 2, the welding torch mechanism is provided in a pair of left and right with an insert supply mechanism interposed therebetween. Also, a welding torch mechanism for temporarily fixing the insert material mounted on the turntable and performing main welding may be mounted on the turntable via a moving mechanism that is movable in a plurality of directions with respect to the pipe.

Thus, according to the present invention, the step of arranging the swivel axis adjacent to the pipe by the movement of the carriage, and the swivel axis being brought closer to the pipe side, the swivel axis can swivel concentrically around the pipe. A moving operation to a proper position, a step of facing the insert material to a repair target position of the pipe by a moving operation of the front and rear shafts and the like included in the insert material supplying mechanism, rotation of the turntable, and a welding torch mechanism. The operation of the present invention can be smoothly achieved by including a step of moving the welding torch portion in a predetermined direction by a side movement operation to temporarily fix the insert material and perform main welding.

Further, according to the present invention, since the insert supply mechanism and the welding torch mechanism are mounted on the turntable through the respective moving mechanisms, the overall size can be made compact, and the narrow pipes can be passed through, and the pipes standing in the forest. By installing a rail on the floor between and installing a traveling carriage here, the welding equipment can be transported to the central area of the forested pipe group.

Further, according to a preferred embodiment of the present invention, the swivel shaft and the turntable are provided with a U-shaped opening into which the pipe can enter from the side, and the pipe fitted into the U-shaped opening. It is preferable to provide a positioning means for positioning between the rotary shaft and the rotary shaft so that the turntable can be concentrically rotated around the pipe through the rotary shaft.

Further, according to the present invention, a turning shaft is mounted on the trolley via a moving means including a shift cylinder and a linear guide, and the shape of the turning shaft is a U-shaped opening so that the turning shaft is moved from the rail side together with the turning shaft. By shifting the starter table to the pipe side and inserting it into the U-shaped opening with the axes aligned, the turntable equipped with the insert material supply mechanism and the welding torch mechanism goes around the pipe around the turning axis. It is possible to access the repair target part in a narrow place between forested pipe groups, and to insert insert material and weld insert material.

Further, it is preferable that the swivel shaft can swivel 360 degrees or more, and the swivel shaft has positioning means (a pair of clamp cylinders and clampers provided on both sides of the U-shaped opening). Since it is provided, the swivel shaft is positioned between the swivel shaft and the pipe, and smooth welding is possible without shaft runout. In particular, by providing a pair of clamp cylinders on both sides of the U-shaped opening cutout of the swivel shaft, the turntable having the welded part body mounted thereon can be securely fixed to the pipe after the access.

As described in claim 2, the welding torch mechanism is provided symmetrically on the turntable 16 at two positions with the insert supply mechanism interposed therebetween, so that the temporary fixing of the insert material is facilitated. 2 insert materials
Welding can be performed at the same location by suppressing welding distortion.

The present invention also provides a surveillance camera for monitoring the welding condition of the moving mechanism, for example, a CC with an openable filter.
By providing the D camera, the monitoring camera moves following the welding, so that the welding condition can be monitored accurately.

Further, according to the present invention, a welding power source connected to the welding torch via a cable and a control panel with a monitoring monitor for remotely operating the welding apparatus are preferably arranged outside the forest forestry area. This allows remote control from outside the forest area.

[0015]

BEST MODE FOR CARRYING OUT THE INVENTION The present invention will be described in detail below with reference to the embodiments shown in the drawings. However, unless otherwise specified, the dimensions, shapes, relative arrangements, and the like of the components described in this embodiment are not intended to limit the scope of the present invention thereto, but are merely illustrative examples.

This embodiment shows a repair welding system for a large group of forested pipes. First, when the overall structure is outlined with reference to FIG. 1, 1a is a pipe which stands upright from the floor surface 1 and has a large diameter on the upper side and a lower side on the lower side. The repair welding target portion 1b of the pipe is formed with a small diameter and in the tapered portion between them. The pipes 1a are arranged in a grid at regular pitches as shown in FIGS. 6 to 9, and the interval between the pipes 1a is very narrow.

A guide rail 6 is provided on the floor surface 1 between the pipes 1a.
By installing the welding device 2 and installing the welding device 2, it is possible to access the welding device 2 to the central portion of the forested pipe group. The welding device 2 for repair-welding the repair welding target portion 1b of the pipe 1a includes control cables 8a and 8b from the control panel 3 to the welding torch mechanism 17 side and the insert supply mechanism side, respectively.
And a monitor cable 9 from the monitor 4, and a welding power source 5 to a power cable 10 on the welding torch mechanism 17 side.
Are connected respectively.

A shield gas 7 is supplied to the welding power source 5,
A ground cable 11 is individually connected to the pipe 1a from the welding power source 5. Incidentally, in this embodiment, the welding torch mechanisms 17, 17 are provided on both sides of the insert supply mechanism with the insert supply mechanism interposed therebetween.
Since a pair of right and left are provided, a plurality of welding power sources and the like are provided correspondingly. With this configuration, it is possible to perform remote operation by operating the control panel 3 while grasping the insert status and the welding status from the outside of the forested large pipe group by the monitor 4.

Next, the detailed mechanism of the present welding apparatus will be described.
As shown in FIG. 2, the welding device 2 first includes a guide rail 6
There is a traveling carriage 12 that travels along this traveling carriage 1
2 is provided with four guide rollers 25a and four guide rollers (not shown) for preventing lateral shake during traveling so that the vehicle can easily travel along the guide rails 6. In addition,
The traveling carriage 12 may be driven manually by pushing or pulling with a pole or the like, or may be automatically driven using an electric motor or remote from the control panel 3.

Shift trucks 15 are mounted on both ends of the carriage 12 in the longitudinal direction, and a rotary shaft 13 provided at the center of the carriage 12 is rotatably supported by linear shifters 15. The swivel shaft 13 has a U-shaped opening 13a (see FIGS. 3, 5, and 9) that can swivel 360 ° or more by controlling the drive of the swivel motor 28.

As shown in FIGS. 4, 7 and 9, the swivel shaft 13 having the U-shaped opening 13a is provided with the U-shaped opening 1 through the shift cylinder 15 and the linear guide 14.
The turning shaft 13 is configured to be movable in a direction in which the pipe 1a enters the inside 3a, in other words, in a direction orthogonal to the moving direction of the traveling vehicle 12.

A pair of clamp cylinders 36 (see FIGS. 4 and 5) each having a clamper 37 at the tip thereof are provided on both sides of the opening end of the U-shaped opening 13a of the swivel shaft 13. Piping 1 in the U-shaped opening 13a
The swivel shaft 13 into which the a has penetrated is installed in the pipe 1a at an arbitrary rotation position.
Is configured so that it can be clamped.

Further, as shown in FIG. 5, the relative position of the truck 12 to the pipe 1a is detected by a limit sensor 40 attached to the truck 12. Therefore, after the relative position of the carriage 12 with respect to the pipe 1a is positioned at a predetermined position by the detection signal from the limit sensor 40, the shift Linder 15 is driven and the rotary shaft 13 is connected to the pipe 1 via the linear guide 14.
The pipe 1a is configured to be moved to the side a and fit into the center position of the U-shaped opening 13a of the turning shaft 13.

Further, in FIG. 5, a pair of clamp cylinders 3 are provided on both sides of the U-shaped opening 13a of the rotary shaft 13.
6 and a clamper 37 are provided, and the swivel shaft 13 is attached to the pipe 1a.
And U-shaped openings 13a, 16a of the turntable 16
After the insertion, the clamp cylinder 36 is operated to clamp the pipe 1a with the clamper 37 so that the entire welding device 2 is firmly fixed to the pipe 1a. The position after sliding can be confirmed by the limit sensor 39.

As shown in detail in FIG. 5, the swivel shaft 13 is provided with a swivel ring 35 in the center thereof, and the swivel ring 35 is rotatably disposed in the central part of the frame 27. It has a U-shaped opening shape in which a circular part is cut out in conformity with the U-shaped opening portion 13a, and gears are meshed with the outer peripheral surface, and the turning motor 2 is driven through the drive gear 34.
It is configured to be rotatable by receiving a rotational force from 8.

Further, the turning motor 28 of the turning shaft 13 sends the driving force to the timing belt 32 from the idle gear & timing wheel 31 provided coaxially through the worm gear 45 and the worm wheel 30. Tell
The slack of the timing belt 32 is adjusted by a tension wheel 33, and a turning ring 35 can be rotated right and left via three drive gears 34 arranged at 90-degree pitch. That is, since the swivel ring 35 described above is meshed with the drive gear 34, the swivel ring 35 can be freely rotated right and left by the swivel motor 28.
An encoder 38 is also connected to the swivel ring 35, and position control and confirmation on the circumference are performed from this data.

As shown in FIG. 2, a turntable 16 having a U-shaped opening 16a (see FIG. 8) is provided on the upper surface of the turning shaft 13, and on the turntable 16,
An insert supply mechanism equipped with a shaving machine 29 for shaving off a defective portion on the outer peripheral surface of the pipe and a pair of left and right welding torch mechanisms are mounted. The insert supply mechanism is designed with its height and width suppressed so that it can pass between the pipes 1a. Further, the welding torch mechanism is mounted via an arc shaft 21 which can swing left and right around the pipe 1a so as not to interfere with the pipe 1a.

The insert supply mechanism is the turntable 1
The insert front-rear shaft 24, which slides toward the center of the pipe on 6, is the vertical shaft 25, the tilt shaft 23, and the tilt shaft 23 provided above.
The insert chuck 26 holds the insert material 22 at its tip, and the shaving machine 29 is mounted on the insert chuck 26.

As shown in FIG. 4, the insert front-rear shaft 24 is moved forward and backward on the turntable 16 toward the center of the pipe by a rack and pinion (both not shown) from a drive motor via a speed reducer. As shown in FIGS. 6 and 8, when the welding device 2 is set, the welding device 2 is put into the turntable 16 and passes through the pipe 1a, and when the welding device is accessed, the welding device 2 is opened.
As shown in, a mechanism is devised to prevent the insert material 22 from interfering with the pipe 1a by a mechanism that retracts and pushes out from the turntable 16 in the pipe outer peripheral direction in synchronization with the shift amount of the swivel shaft 13 in synchronization.

The insert vertical shaft 25 is vertically driven by a screw slide from a drive motor through a speed reducer. The insert tilt shaft 23 is operated in a fan-like manner by a worm wheel from a drive motor via a speed reducer. Insert chuck 26
Is an air cylinder type, and this cylinder is provided with a claw that slides to the left and right, and the insert material 22 can be held and released freely.

By remotely controlling these axes,
Adjust the angle of the insert material 22 up and down, and further adjust the angle.
It is possible to insert and install the repair welding target portion 1b of the pipe 1a, which has been scraped off. Further, since the shaving machine 29 is mounted on the insert chuck 26, the defective portion on the outer peripheral surface of the pipe can be precisely removed by adjusting the front, rear, upper and lower sides, and the angle, similarly to the insert material 22.

A pair of left and right welding torch mechanisms, sandwiching the insert supply mechanism, are provided on both sides of the insert supply mechanism via arcuate shafts 21 which can swing left and right separately from the rotation of the turntable 16 about the pipe 1a. A vertical shaft 18 and a front-back shaft 19 are provided. And the vertical shaft 18 and the front-back shaft 19 are
It is operated by a screw slide from the co-drive motor through a speed reducer. The front-rear shaft 19 also has an AVC function by feedback control of arc voltage during welding. The front and rear shaft 19 is equipped with a welding torch 17 and a CCD camera 20 with an openable filter at the lower part of the torch so that the torch tip can be monitored.

Two Cs provided in each of the welding torch mechanisms
Since the CD camera 20 can swing to the left and right independently of the insert supply mechanism independently of each other, the correct cutting position of the cutting machine 29 and the repair welding target portion 1b of the insert material 22.
It is used for accurate positioning of the welding torch 17 and positioning of the welding torch 17 during welding, and further for monitoring the welding condition. Further, at the time of welding the insert material 22, the welding torches 17 provided in a pair on the left and right sides can perform temporary tacking at two locations at the same time so that the insert material 22 does not float above the pipe repair welding target portion 1b due to welding distortion. In addition, consideration is given not to interfere with the subsequent welding.

Since both the insert supply mechanism and the left and right welding torch mechanisms are provided on the turntable 16, after the turning shaft 13 is accessed to the pipe 1a, the target portion at any position of the circumference 360 ° can be dealt with.

Next, the operation of this embodiment will be described. First, the guide rail 6 is installed between the pipes 1a on the floor 1 on which a large number of pipes 1a are forested, and the traveling carriage 12 having the welding device 2 mounted on the guide rails 6 is installed on the forestry pipes 1a group for repairing pipe positions. 2 can be moved easily.

Next, the shift cylinder 1 provided on the carriage 12
5 through the linear guide 14 and the turning shaft 13, the turntable 16 is shifted in the lateral direction of the carriage 12, in other words, from the rail side toward the pipe 1a, and the U-shaped openings 13a, 16 are formed.
With the a-axis center and the pipe 1a center aligned, the clamp cylinder 36 is operated and the clamper 37 holds the pipe 1a.
After the insert supply mechanism is faced to the repair position on the outer peripheral surface of the pipe by rotation of the turntable 16 while firmly fixing the whole to the pipe 1a, the insert vertical shaft 25, the insert tilt shaft 23, and the insert front-rear shaft 24 are used for cutting. In order to make the generator 29 face the defective portion on the outer peripheral surface of the pipe and to repair the outer peripheral surface of the pipe, the defective portion on the outer peripheral surface of the pipe is scraped off, and then the insert material 22 which becomes a part of the pipe is cut into the cut portion. , And the insert material 22 is temporarily tacked at two positions simultaneously by the welding torches 17 provided on the left and right pairs, so that the insert material 22 does not rise above the repair welding target portion 1b of the pipe due to welding distortion. , Considering that it will not interfere with the subsequent welding.

Then, the turntable 16 is rotated to face the welding torches 17, 17 to the repair position on the outer peripheral surface of the pipe, and then the main welding is performed via the front-rear shaft 19, the vertical shaft 18, and the tilt shaft (not shown). . At this time, even if the repair welding target portion 1b of the pipe 1a is formed in the downward taper portion, the pipe repair welding target portion 1b is provided in the tapered portion of the pipe diameter by tilting the inclined shaft along the taper portion. However, the welding torch 17 and the like can face the target position.

Further, this embodiment is a CCD with an open / close type filter.
By providing the camera 20, accurate positioning and monitoring during repair welding are possible, and good welding is possible. Further, the welding device 2 such as the insert supply mechanism and the torch welding mechanism described above.
By installing the control panel 3 with the monitor 4 for remote control of the welding machine, the welding power source 5, the shield gas 7, etc. outside the forest area of the pipe 1a, the control panel 3 can be monitored from the outside while the welding status is being monitored by the monitor 4 of the control panel 3. Repair welding can be performed by operating 3 remotely.

The arrangement of the main welding device 2 is shown in FIGS.
It will be described based on. FIG. 8 is a plan view of FIG. 6 and shows a state in which a group of pipes 1a are scattered and arranged in a grid shape. As shown in the figure, guide rails 6 are laid in the column direction or the row direction between the pipes 1a of the grid-shaped pipe group, a traveling carriage 12 is mounted on the guide rails 6, and the carriage 12 is installed at the repair position of the pipe 1a. The carriage 12 is positioned by moving it to a position facing. Then, the shift Linder 15 is driven to move the swivel shaft 13 to the pipe 1a side via the linear guide 14,
The pipe 1a is fitted into the center position of the U-shaped opening 13a of the No. 3 pipe.

Such a situation is shown in FIGS. 7 and 9, and shows a situation in which the welding device 2 has accessed the pipe 1a. As described above, the positioning on the pipe 1a is performed by the limit sensor 40 attached to the carriage 12 as shown in FIG.
By. The vehicle is driven manually by pushing and pulling it with a pole. A shift cylinder 15 is provided at both ends of the carriage 12.
2 are mounted, and the swivel shaft 13 is held by the linear guides 14.

By using the above-mentioned mechanism, the welding apparatus 2 is made to access the repair welding target portion 1b of the pipe 1a located in the central portion of the pipe group installed in a forest, passing through the narrow portion, and externally. The remote control of the control panel 3 while monitoring the repair welding status with the monitor 4 enables welding of the pipe located in the central portion of the pipe group, which has not been performed in the past, thereby reducing man-hours and reliability of the pipe. Hope to improve.

[0042]

As described above, according to the present invention, it is possible to easily carry out repair welding of pipes located in the central region of a pipe group standing on the floor or the like, which has not been carried out conventionally.
It can be expected to reduce man-hours and improve the reliability of piping.

[Brief description of drawings]

FIG. 1 is an overall configuration diagram showing a relationship between an automatic repair welding apparatus and pipes according to an embodiment of the present invention.

2 is a front view of the automatic repair welding device shown in FIG. 1. FIG.

3 is a plan view of the automatic repair welding device of FIG. 2. FIG.

4 is a side view of the automatic repair welding device of FIG. 2. FIG.

5 is a plan view of a section I-I of FIG. 2. FIG.

FIG. 6 is a side view showing a setting state between pipe groups of the automatic repair welding apparatus of FIG.

FIG. 7 is a side view showing a state where a repair weld between pipe groups of the automatic repair welding apparatus of FIG. 2 is being accessed.

FIG. 8 is a plan view of FIG.

9 is a plan view of FIG. 7. FIG.

[Explanation of symbols]

1a piping 1b Repair welding target part 2 welding equipment 3 control panel 4 monitors 5 welding power source 6 Guide rail 8a, 8b control cable 12 carts 13 swivel axis 14 Linear guide 15 shift cylinders 16 turntable 17 welding torch 18 Vertical axis 19 Front-rear axis 20 CCD camera 22 Insert material 23 Insert tilt axis 24 insert front-rear axis 25 insert vertical axis 26 Insert chuck 35 swivel ring 36 Clamp cylinder 37 clamper 39,40 Limit sensor

─────────────────────────────────────────────────── ─── Continuation of the front page (72) Inventor Toshiyuki Kinugasa 2-1-1, Niihama, Arai-cho, Takasago, Hyogo Prefecture Mitsubishi Heavy Industries, Ltd. Takasago Laboratory (72) Inventor Tadami Nagata 1-chome, Wadazaki-cho, Hyogo-ku, Kobe No. 1 Mitsubishi Heavy Industries, Ltd. Kobe Shipyard (72) Inventor Shin Nakajima 1-1-1, Wadasaki-cho, Hyogo-ku, Kobe Mitsubishi Heavy Industries Ltd. Kobe Shipyard (56) Reference JP-A-56-117898 (JP) , A) JP 57-81972 (JP, A) Actual development 56-91692 (JP, U) Actual development 61-53092 (JP, U) (58) Fields investigated (Int.Cl. ⁷ , DB) Name) B23K 9 / 00,9 / 04 B23K 31/00 B23K 37/02

Claims (2)

(57) [Claims] 1. A pipe repair welding device for repairing and welding a defective portion of a large pipe group standing on the floor surface, and a trolley capable of traveling on a rail laid between the pipe groups on the floor surface and a pipe opposed to the pipe. A swivel shaft having a notch in the surface and capable of advancing and retracting toward the pipe center, a turntable provided on the swivel shaft, a front and rear shaft on the turntable capable of advancing and retracting toward the pipe center, and A pipe repair welding device comprising an insert supply mechanism having an insert gripping tool and a welding torch mechanism on a turntable. 2. The pipe repair welding apparatus according to claim 1, wherein the welding torch mechanism includes a pair of left and right sides with an insert supply mechanism interposed therebetween.