JPH039783B2 - - Google Patents

Description

[Detailed Description of the Invention] [Industrial Application Field] The present invention relates to an apparatus for coating the inner surface of small-diameter pipes, particularly for pipes with a diameter of about 650 mm or less, which prevents humans from entering, and about 1.5 times the diameter. This invention relates to an inner surface coating device for a three-dimensional, small-diameter bent pipe in which a plurality of elbows are connected.

[Conventional technology]

In piping work for laying pipes for water, sewage, oil, seawater, etc., single pipes were pre-painted inside at the factory and welded together on site. In order to protect the inner surface and surrounding area of the pipe joints that have been welded on-site, the remaining welding slag, burnt paint film caused by welding heat, rust, etc. must be cleaned and removed, and then the specified film thickness and width must be met. It is necessary to apply an anti-corrosion coating. However, in the case of small-diameter pipes with a diameter of approximately 650 mm or less, it is almost impossible for humans to enter the pipe to perform tasks such as cleaning, removing, and painting. A pipe interior coating device has been proposed.

For example, as a coating device like this,
−118465, Japanese Patent Application No. 58-58738 (Japanese Patent Application No. 1983-
(Refer to Publication No. 183860). However, these conventional devices are generally intended for straight pipes, and are not intended for three-dimensionally curved pipes including elbows with a small radius of curvature as described above.

[Problem that the invention seeks to solve]

In other words, in the conventional apparatus described above, the means for inserting the coating apparatus into the pipe is manually carried out using a pipe connected to the rear end of the apparatus, and therefore it is impossible to pass through the elbow part, and the insertion distance is limited to a short distance. It had been. Furthermore, since the coating device is relatively long compared to the diameter of the applicable pipe, there are other problems such as the fact that it is impossible to pass through the elbow of the coating device itself.

[Means for solving problems]

The small-diameter pipe inner surface coating apparatus according to the present invention connects a vacuum transport vehicle and a paint machine transport vehicle to a link mechanism type self-propelled pipe vehicle in which a drive wheel is attached to a link mechanism that can be expanded and contracted in the radial direction via an electric or air connector. They are connected removably by a flexible hose.

[Effect]

In the present invention, the cleaning and painting operations are carried out using a combination of a self-propelled vehicle within the jurisdiction and a transporting vehicle for a grinder, and a self-propelled vehicle within the jurisdiction and a transport vehicle for a coating machine, respectively. The self-propelled vehicle and the conveyed vehicle are connected by a flexible hose via an electric or air connector, making it easy for the self-propelled vehicle and the conveyed vehicle to pass through the elbow. However, in order to allow the self-propelled vehicle and the transport vehicle to pass through the elbow, the length of the vehicle body is formed as short as possible. Also, the output of the self-propelled car is 1
If there are not enough units, two or more units may be connected by a flexible hose with an electrical connector.

In the present invention, since the self-propelled vehicle has a vehicle body structure in which the drive wheels are attached to a link mechanism that can be expanded and contracted according to the inner diameter of the pipe, it can freely pass through even the elbow portions having a small radius of curvature as described above.

〔Example〕

Hereinafter, one embodiment of the present invention will be described with reference to the drawings.
Fig. 1 is an explanatory diagram showing the situation when carrying out the cleaning work on the inner surface of the pipe, Fig. 2 is an enlarged front view of the self-propelled vehicle in the pipe, and Fig. 3 is an explanatory diagram of the link mechanism of the self-propelled vehicle in the pipe.
FIG. 4 is a front view of the cleaning machine carrier, and FIG. 5 is an explanatory diagram showing the situation when painting the inner surface of the tube. The illustrated embodiment shows a case where two self-propelled vehicles in the area are connected. In the figure, reference numeral 1 denotes a link mechanism type self-propelled tube vehicle, and each of the self-propelled tube vehicles 1 is connected to each other by a flexible hose 5 having electrical connectors 51 and 52 at both ends. Reference numeral 2 denotes a flexible hose 3 having electrical connectors 31 and 32 at both ends, and is connected to the in-tube self-propelled vehicle 1, which is a cleaning machine carrier. Further, 4 is a paint machine transport vehicle that is similarly connected to the in-service self-propelled vehicle 1.

The in-pipe self-propelled vehicle 1 has a traveling drive device 11 consisting of a motor and a speed reduction device in the center, and a link mechanism 12 consisting of a front link 12a, a rear link 12b, and a guide link 12c in the main body case of the drive device 11. One pair is arranged on the upper and lower sides, and four drive wheels 13 running on the inner surface of the tube body P are pivotally supported between each pair of opposing links. The necessary pressing force between the drive wheel 13 and the inner surface of the tube body is ensured by a spring 14 that always biases the link mechanism 12 in the direction of expansion. The drive wheels 13 are made of rubber rollers, for example, and are all-wheel driven by the travel drive device 11 via belts or chains 11a, 11b attached to the front link 12a and guide link 12c, respectively.

As clearly shown in FIG. 3, the link mechanism 12 is connected through a slide guide hole 12e so that the pivot point 12d of the rear link 12b with the traveling drive device main body case moves slightly to the front side, and the auxiliary link 12f This structure connects the intermediate portion of the rear link 12b and the drive device main body case. With this configuration, it is possible to pass through the elbow even if the elbow is not completely concentric and has a somewhat flat curve.

Reference numeral 15 denotes a guide wheel provided to stabilize the self-propelled vehicle 1 in the pipe, and the guide wheel 15 is pivotally supported by a guide frame 16 disposed laterally with respect to the link mechanism 12 in the vertical direction. Also, guide frame 1
6 is provided with a radioisotope 7 for detecting positions to be cleaned and painted, as will be described later.

Next, the sanding machine transport vehicle 2 has a rotating brush 22 connected to a sanding machine motor 21 in the center, and a cylindrical body 25 having a fixing ring 23 and a slide ring 24 on the outer periphery of the motor 21. is fixed. Further, around the cylinder body 25, three sets of cross link mechanisms 26 consisting of links 26a and 26b cross-connected in an X shape are arranged at equal angles, and the base ends of each link 26a and 26b are connected to fixing rings 23, respectively. and a slide ring 24, and a total of six rolling wheels 27 that roll on the inner surface of the tube P are pivotally supported at the outer ends of each link 26a, 26b. Note that 28 is a bolt for fixing the slide link 24.

The rotating brush 22 includes a disc 22a attached to a rotating shaft 21a of a cleaning motor 21, and a disc 22a attached to a rotating shaft 21a of a cleaning motor 21
2a and a twisted wire 22b planted on the periphery of the wire 2a.

The flexible hose 3 that connects the in-pipe self-propelled vehicle 1 and the grinder transport vehicle 2 has electrical connectors 31 and 32 at both ends, so that electric power can be supplied to the motor 21 of the grinder transport vehicle 2. ing.

Further, the flexible hose 5 that connects the two in-pipe self-propelled vehicles 1 is also provided with electrical connectors 51 and 52 at both ends in the same manner as described above.

In the figure, 6 is a cable inserted from the end of the tube, and is connected to the last in-tube self-propelled vehicle 1 by an electrical connector 61 at the tip. Further, the base end of the cable 6 is connected to an external power source and a controller (both not shown).

Next, a coating machine transport vehicle 4 shown in FIG. 5 has a body structure similar to that of the above-mentioned sanding machine transport vehicle 2, and accordingly, corresponding members are given the same reference numerals and a description thereof will be omitted.

The paint sprayer motor 41 is fixed within a cylindrical body 25 surrounding a cross link mechanism 26, an impeller 42 is attached to a rotating shaft 41a, and a paint supply hose 43 extends from the outside into the impeller 42. The tip of the is facing.

Next, a case will be described in which the inner surface of a small diameter pipe, that is, a welded joint is painted using the apparatus of the present invention configured as described above.

First, it is necessary to polish the relevant area prior to painting, so in this case, the cleaning machine carrier 2 is connected to the in-pipe self-propelled vehicle 1 through the electrical connector 31 of the flexible hose 3. Also,
If the target pipe P is a small-diameter pipe with a diameter of about 150 mm, one self-propelled vehicle 1 will not have sufficient running ability, so two self-propelled vehicles 1 will be required as shown in Figure 1.
are used by connecting them with a flexible hose 5.

From the end of the pipe, the vacuum cleaner transport vehicle 2, then the self-propelled vehicle 1 inside the pipe.
When the machine is manually inserted and the travel drive device 11 is started, the drive wheels 13 rotate and the self-propelled vehicle 1 moves deep into the pipe while pushing the cleaning machine carrier 2 through the flexible hose 3. go. In this case, it goes without saying that when the tube P is a straight tube, even if it is a curved tube as shown in FIG. 1, it can freely pass through the elbow portion thereof.

To detect the location to be polished and painted, a low-level radio isotope 7 installed on the self-propelled vehicle 1 in the area is used.
As shown in FIGS. 6 and 7, this can be detected by the position detector 8 built into the GM tube, which is placed on the outer surface of the tube. In other words, if the position detector 8 is fixed on the outer surface of the tube body at a position B ^AL that is a certain distance L away from the position A to be polished or painted, the radio isotope 7 attached to the self-propelled vehicle 1 in the tube will position
As it approaches B ^AL , the GM tube in the detector 8 begins to operate and the signal lamp 81 blinks. When the detector 8 and the radioisotope 7 match, the sensitivity reaches its maximum and the signal lamp 81 blinks continuously, and as it moves away, the signal lamp 81 changes from blinking to extinguishing. At this point of continuous flashing, the self-propelled vehicle 1 is stopped and the cleaning operation begins.

The cleaning work is carried out by starting the cleaning motor 21 mounted on the cleaning machine transport vehicle 2, rotating the rotating brush 22, and moving the in-pipe self-propelled vehicle 1 back and forth by the required coating width. I'll pull over and do it. The rotation of the torsion wire 22b of the rotating brush 22 held coaxially with the tube body P and the back-and-forth movement of the self-propelled vehicle 1 in the tube can remove welding slag, burnt paint, rust, etc. from the welded joint.

This cleaning work starts from the welded joint near the end of the pipe and continues to the innermost welded joint by repeatedly repeating the position detection and cleaning work.

After the above-mentioned grinding work is completed, the grinder carrier 2 is pulled out of the pipe, and then the air compressor hose (not shown) is sent to the innermost welded joint, and the compressed air is directed toward the pipe end. It is gradually pulled out while being injected backwards to discharge and remove accumulated materials such as slag and paint film that have accumulated at the bottom of the pipe. Incidentally, the accumulated material may be sucked out with the hose of a large vacuum cleaner.

After all of the above-mentioned grinding and cleaning work is completed, the painting process begins. In the painting operation, first, the sanding machine carrier 2 is removed, and instead, the paint machine carrier 4 is connected to the in-pipe self-propelled vehicle 1, and is sent into the pipe in the same manner as described above. Painting starts from the innermost welded joint. After detecting the position to be painted on the welded joint in the same manner as described above, the paint sprayer motor 41 mounted on the paint sprayer carrier 4 is started and the impeller 4 is activated.
Rotate 2 at high speed. At the same time, if paint is dripped into the impeller 42 through the paint supply hose 43,
The paint is beaten by the centrifugal force of the impeller 42, becomes fine and scatters in the tangential direction, so that the entire circumference of the ground surface can be coated. At the same time, painting can be done by moving the in-pipe self-propelled vehicle 1 backward at a very slow speed by the required painting width.

FIG. 8 shows another embodiment of the coating machine carrier. In this case, the atomizer is shown as a rotary atomizer type atomizer 44, which is an application of the rotary atomizer used in ultra-high-speed rotating electrostatic atomizers. As shown in FIGS. 8 to 10, a rotary nozzle 45 attached to the tip of a rotary atomizer type atomizer 44 is connected to an air motor 46.
It is rotated by The compressed air for rotating the air motor 46 is supplied from an air compressor (not shown) installed outside the pipe through an air hose (not shown) piped inside the hollow flexible hose 3-2. be done. The flexible hose 3-2 has air connectors 33 on both ends,
It has 34. 47 is a rotation axis of the rotating nozzle 45.

In this rotary atomizer type coating machine 44, paint is dripped onto the inner surface 45a of a rotating nozzle 45 which is rotating at high speed through a paint supply hose 43 drawn from outside the tube. Then, the particles are finely dispersed in the tangential direction by centrifugal force from the peripheral edge 45b, so that the entire circumference of the inner surface of the tube can be coated.

The transport vehicle 4-2 that supports the coating machine 44 coaxially with the tube body P has a parallel link mechanism 48, and a rolling wheel 49 is pivotally supported on the parallel link mechanism 48, and is supported by a spring 50. A rolling wheel 49 is pressed against the inner surface of the tube.

Painter transport vehicle 4-2 is in service with self-propelled vehicle 1 during painting.
It is made to move back and forth at a very slow speed.

〔Effect of the invention〕

As described in detail above, the present invention provides a link mechanism type in-tube self-propelled vehicle having a link mechanism that can be freely expanded and contracted in the radial direction, and a grinder transport vehicle that is removably connected to the self-propelled vehicle by a flexible hose. Since the machine transport vehicle is driven inside a small-diameter pipe, even if the pipe body is a three-dimensional bent pipe with an elbow, it can be inserted deeply into the pipe, and the predetermined welded joints can be coated with anti-corrosion coating. The effect is that it can be implemented.

[Brief explanation of the drawing]

Fig. 1 is an explanatory diagram showing the implementation status of the cleaning work according to the embodiment of the present invention, Fig. 2 is an enlarged front view of the self-propelled vehicle within the jurisdiction, and Fig. 3 is an explanatory diagram of the link mechanism of the self-propelled vehicle within the jurisdiction. Figure 4 is a front view of the grinder transport vehicle, Figure 5 is an explanatory diagram showing the implementation status of painting work, Figures 6a and b are front and side views of the position detector, respectively, and Figure 7 is a diagram of the grinding machine.・An explanatory diagram showing a method of detecting the position to be painted, Fig. 8 is an explanatory diagram of another embodiment of the coating machine carrier, Fig. 9 is a front view of the coating machine carrier shown in Fig. 8, and Fig. 10 is FIG. 9 is a perspective view of essential parts of the coating machine shown in FIG. 8; 1: Self-propelled vehicle within the jurisdiction, 2: Grinder carrier, 3: Flexible hose, 4, 4-2: Painter carrier, 1
1: Traveling drive device, 12: Link mechanism, 13: Drive wheel, 31, 32: Electrical connector, 33, 34:
Air connector.

Claims (1)

[Claims] 1. A link mechanism type self-propelled vehicle in which a drive wheel is attached to a link mechanism that can be freely expanded and contracted in the radial direction, and a grinder transport vehicle and a paint sprayer transport vehicle are removably connected by a flexible hose via a connector. Small-diameter pipe inner surface coating equipment featuring: