JP4263974B2 - Steel pipe structure inner surface repair device - Google Patents

Description

  The present invention relates to a steel pipe structure inner surface repair device that investigates the inner surface of a steel pipe structure, removes rust from the inner surface, and rust-proofs the inner surface in a facility for rust-proofing the inner surface of a steel pipe structure. For example, the present invention relates to a steel pipe structure inner surface repair device suitable for a steel pipe structure having a single bent portion that inclines discontinuously or a plurality of bent portions that discontinuously incline.

  The repair of the inner surface of a steel pipe structure is broadly divided into an inner surface inspection process of the steel pipe structure, an inner surface rust removal process based on the result of the investigation, and an inner surface rust prevention process after rust removal.

(1) Conventional inner surface investigation process Conventionally, it was assumed that the inner surface of a sealed steel pipe structure would not have air flow and would be hardly corroded. Therefore, an appropriate survey method has not yet been established. However, some representative examples are as follows.

  First, there is a method in which a steel pipe member sampled from a steel pipe structure is divided into two vertically and the film thickness is measured with a film thickness measuring device. This method is not efficient in terms of time and cost because the member is destroyed and investigated. There is also a method of measuring the film thickness by inserting a probe into the steel pipe member (for example, see Patent Documents 1, 2, and 3). This method cannot measure the true film thickness because there is an oxide film on the surface of the measurement part. In order to measure the true value, it is necessary to mechanically remove the oxide film.

  There is also a method of measuring the steel pipe wall thickness from the outside of the steel pipe member using a plate thickness measuring device. This method is excellent in terms of non-destructive inspection from the outside of the steel pipe member, but cannot be discovered unless the measurement accuracy is low and corrosion progresses to reduce the thickness of the steel material. There is also a method in which an endoscope is inserted into the steel pipe member and visually evaluated. In this method, since the initial insertion portion of the steel pipe member is thin and the pipe diameter changes thickly as it is inserted, it is difficult to produce a position holding unit that moves while holding the endoscope inside the member. In some cases, it is possible to insert an endoscope with a hole in the member, but the strength of the member after opening is reduced.

  Further, there is a method in which a hammer is hit with a mallet, a plastic hammer or the like, and the corrosion product is dropped or evaluated from the presence or absence of an opening. This method is suitable for detecting a portion where the progress of rust is remarkable, but the detection time is delayed.

(2) Conventional inner surface rust removal process Conventionally, the inner surface of a sealed steel pipe structure was based on the premise that there would be no air flow and almost no corrosion. Not established. However, some representative examples are as follows.

  There is a method of removing a part of the steel pipe member from the steel pipe structure and removing the rust based on the result of the investigation. In this method, when the removed steel pipe member is the main pillar material, it is necessary to attach a temporary reinforcing material. The main column material is a member that bears the main stress acting on the steel pipe structure, and is difficult to remove. Furthermore, there are many mountainous areas where steel pipe structures are constructed, making it difficult to carry in, remove and install heavy machinery.

  Therefore, a method for removing rust on the inner surface of the steel pipe structure without removing the steel pipe member is required. However, the steel pipe structure is constructed almost vertically from the ground surface, and the length of the structure may exceed 200 m. Furthermore, some steel pipe structures have a plurality of bent portions where the inclination of the main pillar material changes discontinuously in the middle, and there are various angles of the bent portions. After inserting the inner surface derusting apparatus into the member, it is very difficult to remove the inner surface of the member by moving it to the required position. Since the member dimensions of the main pillar material are thinner as the ground height is higher and change as the height is lower, it is necessary to change the device used according to the member dimensions. In addition, workers must climb to the top of the steel pipe structure, work in high places and confined work spaces, and use large power sources and complex internal rust removal equipment. There are many problems.

(3) Conventional inner surface antirust treatment process Even if internal insertion painting, external painting, partial removal painting, etc. are performed using the method described in (1) and (2) above, the same as described above The problem remains.

  Conventionally, the inside of a sealed steel pipe structure has no air flow in principle and should hardly cause corrosion. However, if the steel pipe structure is not completely sealed, or if a slight gap occurs due to aging, air flows into and out of the steel pipe structure through the opening or gap due to changes in temperature, and enters the inner surface of the steel pipe. As a result, condensation may occur on the inner surface of the steel pipe. Furthermore, corrosion due to acid rain, which has been considered as a cause of environmental destruction in recent years, cannot be ignored, and when rainwater flows into the steel pipe structure and stays inside, the progress of corrosion is remarkable.

  In view of this, the present applicant previously conducted an inner surface inspection process of the steel pipe structure, an inner surface rust removal process based on the result of the investigation, and an inner surface rust prevention process after the rust removal in the facility for rust prevention treatment of the inner surface of the steel pipe structure. A steel pipe structure inner surface repair device (Japanese Patent Application No. 2003-78242) that can be widely applied and can be easily remotely operated from the outside has been proposed.

  This steel pipe structure inner surface repair device is basically composed of an "inner surface inspection device that inspects the inner surface of a steel pipe structure, an inner surface rust removal treatment device that removes rusted parts based on the investigation results, It consists of an “internal rust prevention device for rust-proofing the rust removal part”. A position holding unit common to the inner surface inspection device, the inner surface rust removal processing device, and the inner surface rust prevention processing device is provided, and a rotating portion and a bent portion are provided in an intermediate portion of the position holding unit. Each rotating unit gives a 360 degree rotation to the apparatus when each apparatus performs work. Each bent portion bends corresponding to the tower bending portion when the devices positioned before and after the bending portion pass through the tower bending portion. When each work in each device is performed, at least two bent portions adjacent to the device performing the work are fixed.

This steel pipe structure inner surface repair device achieves the original purpose, but is applied to a steel pipe structure having a single bend that inclines discontinuously or has a plurality of bends that discontinuously incline. There are several problems. That is, when the installation interval of the bent portions is long, the apparatus cannot pass through a plurality of bent tower portions that discontinuously incline. In addition, if the installation interval of the bent portion is narrowed and the number of installation is increased, the mechanism is not only complicated, but also when performing a predetermined work by fixing the device at a plurality of bent tower bending points, from the work The working position may shift due to the reaction force received.
JP 2000-241152 A JP 2000-266532 A JP 2000-321047 A

  Therefore, the present invention is suitable for the steel pipe structure inner surface repair device that has been proposed previously, particularly for a steel pipe structure having a single bent portion that inclines discontinuously and a plurality of bent portions that discontinuously incline. It aims at providing the steel pipe structure inner surface repair apparatus.

  The present invention includes an inner surface inspection device for inspecting the inner surface of a steel pipe structure, an inner surface rust removal processing device for removing a rust portion based on the investigation result, and an inner surface for rust-proofing the inner surface of the rust removal portion after rust removal. It is applied to the steel pipe structure inner surface repair device composed of a rust prevention treatment device. In the inner surface repair device, a position holding unit common to the inner surface inspection device, the inner surface rust removal processing device, and the inner surface rust prevention processing device is provided, and a rotation unit and a bending unit are provided in an intermediate portion of the position holding unit. The bending unit includes a first component, a second component, and a universal joint. The first structure includes a first actuator and a first casing that supports the first actuator. The second structural body includes a second actuator and a second casing that supports the second actuator. The universal joint includes a relay member, a connection plate, a drive connection pin, and a fulcrum connection pin, and connects the first structure and the second structure so as to be swingable.

  The first and second actuators are selected from one of an electric cylinder, a hydraulic cylinder, or an air cylinder having a lock function.

  The relay member includes a first actuator connection arm, a second actuator connection arm, a first casing connection arm, and a second casing connection arm. The first actuator connection arm is rotatably connected to the actuator of the first actuator through the connection plate and the drive connection pin. The second actuator connection arm is rotatably connected to the actuator of the second actuator through another connection plate and another drive connection pin. The first casing connection arm is rotatably connected to the bracket of the first casing through another fulcrum connection pin. The second casing connection arm is rotatably connected to the bracket of the second casing through another fulcrum connection pin.

  Each bending unit bends corresponding to the tower bending portion when the devices located before and after the tower passes through the tower bending portion, and is adjacent to at least the device performing the operation when each operation in each device is performed. The two bending units are fixed.

According to the present invention, the following effects can be obtained.
(1) In the process of investigating the inner surface of a steel pipe structure, the device is suspended from a possible opening part of the steel pipe structure with a wire or the like, and the length of the wire or the like is adjusted by the openable part. While moving while being held inside the steel pipe member, you can observe the corrosion state of the inner surface of the steel pipe member with a camera and detect the rust removal part, so you can investigate without removing or replacing the member, Work time can be reduced economically and safely.
(2) In the steel pipe structure inner surface investigation, rust removal treatment, and painting treatment process, the position holding unit is designed to be small so that a narrow place can be easily inserted. Since the arms of the stage support mechanism can be freely opened and closed, it is possible to easily move and hold the positions having different member dimensions.
(3) The measuring roll arranged in the openable part of the steel pipe structure is connected to the inner surface inspection device with a wire or the like, and the measuring roll is rotated by the insertion of the inner surface inspection device. By measuring the insertion length of the inner surface inspection device, the position in the height direction of the rust removal portion can be measured. Furthermore, the image data of the rust removal portion can be input to a personal computer, and the dimensions and the circumferential position can be measured by image analysis.
(4) The inner surface rust removal treatment apparatus can accurately move the mug to the rust removal portion and contact the mug cup so that there is no gap. When the inside of the mug is depressurized by a vacuum pump, the mug is reliably adsorbed on the curved inner surface of the steel pipe. Vacuum arc discharge can be performed between the electrode in the mug and the corroded portion, and rust can be removed in a limited space.
(5) The inner surface rust preventive treatment apparatus can apply the rust preventive paint uniformly to the entire rust removal completion part by the spray type inner surface application unit.
(6) A variety of structures with different angles of the bent portions of the main column member can be smoothly passed by the plurality of bending units, and the work can be reliably performed while maintaining the position of each device during the work.

  With reference to drawings, the Example of the steel pipe structure internal surface repair apparatus with which this invention is applied is described.

  FIG. 1 is a side view of a steel pipe tower for communication 100, which is a typical example of a steel pipe structure, and schematically shows a mounting state of its constituent members. The steel tower 100 has a relatively complicated structure among steel pipe structures. The main pillar material A, which is a constituent member of the steel tower 100, is tilted at a predetermined angle with respect to the ground. The steel pipe diameter size of the main pillar material A is different for each fixed section, and the top portion is thin and tends to become thicker as it approaches the ground. In addition, the main columnar material A is mutually connected by the flange joint D. A bent portion F where the inclination of the steel pipe member changes discontinuously is provided in the upper part and the vicinity of the base part of the steel tower 100.

  FIG. 2 is an enlarged side view of the end B of the steel tower top main pillar material A. FIG. An end B of the main pillar material A is covered with a top plate C. After removing the top plate C, the steel pipe structure inner surface repair device (hereinafter simply referred to as “inner surface repair device”) 200 (FIG. 3) of the present invention is inserted from the main column member end B. The inner surface repair device 200 is suspended by a wire 102 so as to be lifted and lowered by placing a measuring roll 103 on the lifting unit 101.

  For convenience of explanation, an embodiment in which the inner surface repair device 200 is integrally provided with an inner surface inspection device 210, an inner surface rust removal processing device 220, and an inner surface rust prevention processing device 230 as shown in FIG. The components of each device are elements unique to the device, but there are also elements common to each device. Each device alone may be provided separately.

  FIG. 3 is a side view of the inner surface repair device 200. The inner surface repair device 200 includes an inner surface inspection device 210, an inner surface rust removal processing device 220, an inner surface rust prevention processing device 230, a position holding unit 240, a rotation unit 250, and a bending unit 500. The inner surface inspection device 210 includes a camera, a lighting fixture, and the like. The inner surface rust removal treatment apparatus 220 includes a sealed unit for forming an airtight space in the vicinity of the rust portion J on the inner surface of the steel pipe, that is, a vacuum unit for making the inside of the airtight space substantially vacuum, and an airtight space. A discharge unit including a discharge electrode provided in the hermetic space so as to remove rust therein by a vacuum arc and a high-voltage power supply for applying a discharge voltage to the discharge electrode. The inner surface antirust treatment device 230 includes a coating unit and the like. The position holding unit 240 includes a plurality of arms that can be freely opened and closed, a fluid cylinder that drives the arms, and the like. The rotation unit 250 includes a housing, a servo motor that rotates the housing 360 degrees around the longitudinal axis of the inner surface repair device 200, and the like.

  In the embodiment of the inner surface inspection device 210 shown in FIG. 3, the position holding unit 240, the rotation unit 250, the inner surface inspection device 210, the rotation unit 250, the bending unit 500, the position holding unit 240, the bending unit 500, and the rotation are sequentially from the bottom. A unit 250, an inner surface antirust treatment device 230, an inner surface antirust treatment device 220, a rotation unit 250, a bending unit 500, and a position holding unit 240 are provided. At least three arms are attached to each stage position holding unit 240 so as to be freely opened and closed with an interval of 120 degrees. The position holding unit 240 at each stage is provided with an electromagnetic valve and an actuator.

  An embodiment of the bending unit 500 that is a feature of the present invention will be described with reference to FIGS. FIG. 4 is a plan view of an embodiment of a bending unit 500 according to the present invention, and FIG. 5 is a side view of FIG. As shown in FIGS. 4 and 5, the bending unit 500 includes a first component 510, a second component 520, and a universal joint 530. The first structural body 510 and the second structural body 520 have substantially the same shape and structure.

  The first structural body 510 includes a first actuator 511 and a first casing 512 that supports the first actuator 511. The second structural body 520 includes a second actuator 521 and a second casing 522 that supports the second actuator 521. The first and second actuators 511 and 521 may be conventional electric cylinders, hydraulic cylinders, air cylinders, or the like. The first and second actuators 511 and 521 preferably have a lock function.

  The universal joint 530 connects the first structural body 510 and the second structural body 520 to each other so as to be swingable around an X axis and a Y axis, which will be described later. The universal joint 530 includes a relay member 531 (see FIG. 6), two sets of connection plates 532, two sets of drive connection pins 533, and two sets of fulcrum connection pins 534. As shown in a perspective view in FIG. 6, the relay member 531 includes a first actuator connection arm 5311, a second actuator connection arm 5312, a pair of first casing connection arms 5313, and a pair of second casing connection arms 5314. . The pair of first casing connecting arms 5313 are arranged to face each other in parallel with a gap in the Y-axis direction. Similarly, the pair of second casing connecting arms 5314 are arranged to face each other in parallel with an interval in the X-axis direction.

  The first actuator connection arm 5311 of the relay member 531 is rotatably connected to the actuator 5111 of the first actuator 511 through a pair of connection plates 532 and a pair of drive connection pins 533. The second actuator connection arm 5312 of the relay member 531 is rotatably connected to the actuator 5211 of the second actuator 521 through a pair of connection plates 532 and a pair of drive connection pins 533. The pair of first casing connection arms 5313 of the relay member 531 is rotatably connected to the bracket 5121 of the first casing 512 through a pair of fulcrum connection pins 534. The pair of second casing connection arms 5314 of the relay member 531 is rotatably connected to the bracket 5233 of the second casing 522 through a pair of fulcrum connection pins 534.

  4 to 6, assuming X, Y, and Z axes orthogonal to each other, the arms 5311 and 5313 form a rotation system around the Y axis, and the arms 5312 and 5314 rotate around the X axis. Form a system. This operation will be described later.

  Next, the overall operation of the steel pipe structure inner surface repair device 200 of the present invention will be outlined. The inner surface inspection device 210 of the inner surface repair device 200 is suspended by a wire 102 extending from an elevating unit 101 (FIG. 2) disposed outside the main column material. The inner surface inspection device 210 energizes the electromagnetic valve, operates the actuator, opens the arm of the position holding unit 240, presses the inner surface of the main pillar material A, and lowers the wire 102 attached to the upper portion of the inner surface inspection device 210. By stopping, the inner surface inspection device 210 is stably held at an arbitrary position inside the main pillar material A.

  In the inner surface inspection process, the inner surface G of the main pillar material A is observed with a camera while the inner surface inspection device 210 is held inside the main pillar material A. Since the inside of the main pillar material A is dark, the lighting fixture provided in the inner surface inspection device 210 irradiates the inner surface G of the main pillar material. Usually, it is observed with a direct view type camera, and if there is an image that is difficult to observe, it is observed with a side view type camera. The camera can approach the investigation site. By rotating the mirror with the rotary motor of the rotary unit 250, observation in a 360 degree direction is possible.

  The inner surface rust removal treatment device 220 can also include a rust removal device such as a conventional brush or grindstone in addition to the discharge unit described above, and rust is removed from the rust removal portion J detected by the inner surface inspection device 210. The inner surface rust prevention treatment device 230 includes a coating unit, and performs a rust prevention treatment by painting the rust-removed surface removed by the inner surface rust removal treatment device 220. The movement method of the inner surface rust removal treatment device 220 and the inner surface rust prevention treatment device 230 is the same as the movement method of the inner surface inspection device 210 described above. The series of rust removal and rust prevention treatments are observed with cameras, mirrors, and lighting fixtures built into each rust removal and rust prevention treatment section. The angle of the mirror can be changed by the rotating unit 250 so that the state of rust removal and / or painting can be clearly observed.

  Next, the operation of the embodiment of the bending unit 500 according to the present invention will be described with reference to FIGS. 4, 5, and 7A to 7C.

  When the bending unit 500 simply passes through the straight portion or the bending portion F of the steel pipe structure, the bending unit 500 is in the neutral state (the first and second actuators 511 and 521 are in the non-driven state, and the universal joint 530 is It is in a state where it can freely rotate.) So that it can pass through the inner surface repair device 200 (see FIG. 8). On the other hand, when performing the rust removal and rust prevention treatment, by operating the bending unit 500, the inner surface inspection device 210, the inner surface rust removal processing device 220, the number of the bending units 500 between the position holding units 240, The positional relationship with respect to the inner surface of the main column material of the inner surface antirust treatment device 230 can be secured, and it is possible to avoid the occurrence of deviation in the work position due to the reaction force generated when working on the inner surface of the main column material.

  The operation will be described in detail with reference to FIG. 4 and FIG. As shown in FIG. 4, first, it is assumed that the first structure 510 is fixed and the second structure 520 is in a neutral state. When the first actuator 511 is actuated to advance the actuator 5111, the universal joint 530 is rotated in the direction of arrow a about the Y axis (fulcrum connecting pin 534), and the casing 522 of the second component 520 is moved. It rotates in the direction of arrow A (see FIG. 7A). On the other hand, when the first actuator 511 is operated to retract the operating element 5111, the universal joint 530 is rotated in the direction of the arrow b about the Y axis (fulcrum connecting pin 534), and the casing of the second component 520 522 is rotated in the direction of arrow B (see FIG. 7C). When the first actuator 511 returns the actuator 5111 to the neutral state, both the components 510 and 520 return to the original linear state (see FIG. 7B).

  Next, as shown in FIG. 5, first, it is assumed that the second structure 520 is fixed and the first structure 510 is in a neutral state. When the second actuator 521 is actuated to advance the actuator 5211, the universal joint 530 is rotated in the direction of the arrow c about the X axis (fulcrum connecting pin 534), and the casing 511 of the first component 510 is moved. It rotates in the direction of arrow C. On the other hand, when the second actuator 521 is operated to retract the operating element 5211, the universal joint 530 is rotated in the direction of the arrow d about the X axis (fulcrum connecting pin 534), and the casing of the first component 510 511 is rotated in the direction of arrow D. When the second actuator 521 returns the actuator 5211 to the neutral state, the two structural bodies 510 and 520 return to the original linear state.

  The bending angle between the two components 510 and 520 can be fixed and maintained at an arbitrary angle by a lock signal. By appropriately combining the operation order and bending angles of the two components 510 and 520, any bent portion F of the tower main pillar material A can be passed and stopped.

  Each of the bending units 500 is bent corresponding to the tower bending portion F when the apparatus 210 or 220 positioned before and after the tower 210 passes through the tower bending portion F, and when each operation in each device is performed, at least the operation described above is performed. The two bending units 500 adjacent to the device for performing are fixed.

  The present invention can be widely used not only for steel pipe towers for communication but also for pipelines laid on the ground, in the ground, on the seabed, and the like.

It is a side view of the steel pipe tower for communication which is a typical example of a steel pipe structure, Comprising: The attachment state of the structural member is shown roughly. It is an enlarged side view of the edge part of a steel tower top main pillar material. It is a longitudinal cross-sectional view of the Example of the steel pipe structure inner surface repair apparatus based on this invention, Comprising: The state inserted in the main pillar material is shown. It is a top view of the Example of the bending unit based on this invention. FIG. 5 is a side view of FIG. 4. It is a perspective view of the relay member which is one of the components of the bending unit shown in FIG. It is operation | movement explanatory drawing of the bending unit shown in FIG. It is operation | movement explanatory drawing of the bending unit shown in FIG. It is operation | movement explanatory drawing of the bending unit shown in FIG. It is an expanded longitudinal cross-sectional view of a steel tower bending location, Comprising: The steel pipe structure inner surface repair apparatus shown in FIG. 3 shows the state which has stopped or passed the steel tower bending location.

Explanation of symbols

DESCRIPTION OF SYMBOLS 100 Steel pipe tower for communication 200 Steel pipe structure inner surface repair apparatus 210 Inner surface inspection apparatus 220 Inner surface rust removal processing apparatus 230 Inner surface rust prevention processing apparatus 240 Position holding unit 250 Rotation unit 500 Bending unit 510 First structure 520 Second structure 530 Universal Joint 511 First actuator 512 First casing 521 Second actuator 522 Second casing 531 Relay member 532 Connection plate 533 Drive connection pin 534 Support point connection pin 5311 First actuator connection arm 5312 Second actuator connection arm 5313 First casing connection arm 5314 Second casing connecting arm A Main column B End C Top plate D Flange joint F Bent point G Main column inner surface J Rust removal part

Claims (4)

Inner surface rusting equipment that inspects the inner surface of steel pipe structures, an inner surface rusting treatment device that removes rusted parts based on the survey results, and an inner rusting treatment device that rustproofs the inner surface of the rusted part after rusting A steel pipe structure in which a common position holding unit is provided in the inner surface inspection device, the inner surface rust removal processing device, and the inner surface rust prevention processing device, and a rotation unit and a bending unit are provided in an intermediate portion of the position holding unit. In the inside surface repair equipment,
The bending unit includes a first component, a second component, and a universal joint,
The first structural body includes a first actuator and a first casing that supports the first actuator,
The second structure includes a second actuator and a second casing that supports the second actuator,
The universal joint includes a relay member, a connection plate, a drive connection pin, and a fulcrum connection pin, and connects the first structure and the second structure to each other so as to be swingable.
Steel pipe structure inner surface repair device. The steel pipe structure inner surface repair device according to claim 1, wherein the first and second actuators are selected from an electric cylinder, a hydraulic cylinder, or an air cylinder having a lock function. The relay member includes a first actuator connection arm, a second actuator connection arm, a first casing connection arm, and a second casing connection arm. The first actuator connection arm passes through the connection plate and the drive connection pin, and the first member is connected to the relay member. The second actuator connecting arm is rotatably connected to the actuator of the second actuator through another connecting plate and another drive connecting pin, and is rotatably connected to the actuator of the first actuator. The casing connecting arm is rotatably connected to the bracket of the first casing through another fulcrum connecting pin, and the second casing connecting arm is further connected to the bracket of the second casing through another fulcrum connecting pin. The steel pipe structure inner surface repair device according to claim 1, wherein the steel pipe structure inner surface repair device is rotatably coupled to the steel pipe structure. Each of the bending units bends corresponding to the tower bending portion when the devices positioned before and after the tower passes through the tower bending portion, and when each work in each device is performed, at least adjacent to the device performing the operation The steel pipe structure inner surface repair device according to claim 1, wherein the two bending units are fixed.

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