JPH0466154A - Robot for repair-coating of inner surface of pipe - Google Patents

Abstract

PURPOSE:To obtain the title robot to be operated by a remote operation and safely repairing the inner surface of a pipe with good repair-coating efficiency by providing a travelling truck introduced into piping in a self-propelled state and having a ginbal pedestal capable of being successively loaded with a primary treatment blast apparatus, a coating material spray apparatus and a painted surface inspection apparatus in a freely detachable manner and providing an arm to the travelling truck. CONSTITUTION:In order to inject blast particles 25, an electromotive valve 31A is opened and a plug 29 is closed and a pressure tank 27 is set to a pressurized state and the electromotive valve 31B of a blast particle supply pipe 32 is opened. At this time, blast particles 25 are injected through a pressure-resistant hose 24A to be sucked through a pressure-resistant hose 24B and recovered in a recovery tank 26. Compressed air is discharged upwardly within the recovery tank 26 and the blast particles 25 pass through an internal tank 26b to to stored in the bottom part of the tank. In coating work, an arm 5 is positioned so that the distance (1, between the tip of the airless nozzle 38A mounted on the arm 5 and the inner surface of a pipe becomes 1=400 + or - 500mm and an electromotive valve 44 is opened and the coating material 40 pressurized in an accumulator 43 is instantaneously sprayed to the inner surface of the pipe. By this method, the safety or efficiency of repair-coating work is enhanced.

Description

[Detailed Description of the Invention] [Object of the Invention] (Industrial Application Field) The present invention relates to a robot for repairing and painting the inner surface of pipes, and in particular for repairing the inner surface of steel piping that introduces circulating cooling water in thermal power plants, etc. This invention relates to a robot for repairing and painting the inner surface of pipes.

(Prior Art) Generally, thermal power plants and nuclear power plants are constructed in coastal areas, and seawater taken in from the plant is used to cool turbines and the like during operation of the power plant. After cooling the turbines, this seawater is discharged back into the ocean via a cooling water circulation facility. Most of these cooling water circulation facilities are buried underground, and a number of intertwined steel pipes are laid to connect each facility. Furthermore, since the inside of the steel pipe is filled with seawater, the inner surface of the steel pipe is coated with anti-rust coating. These coatings need to be inspected every few years and repaired and repainted where necessary.In the case of large-diameter steel pipes with a diameter of 2m or more, workers must go inside the pipe and gradually construct scaffolding. The inner surface of the pipe is inspected and repaired.

However, in the case of pipes, inclined pipes, or vertical pipes, this method requires a great deal of effort and time to construct scaffolding, and also involves working at heights, which poses safety problems.

In order to solve these problems, we have developed a manned repair painting trolley equipped with an arm that can be rotated according to the diameter of the pipe on a trolley that can carry workers, and a small diameter (2 m diameter or less).
An unmanned remote-controlled repair painting robot for piping has been proposed.

(Problem to be solved by the invention) However, since the above-mentioned manned repair painting cart and unmanned remote-controlled repair painting robot for small diameters use solvent-based paint, the drive system parts are explosion-proof. Electrical parts that meet specifications must be used, making the device larger and heavier, making it difficult to handle. In addition, in the above-mentioned equipment, the paint is transported from the ground using a pressure hose, so if the transport distance is long, the hose diameter must be increased to take into account the pressure loss in the pressure hose.
There is a problem in that the weight of the device increases in order to accommodate this. Furthermore, in the case of manned repair painting trolleys, there is a risk of workers falling if the work involves pipes, inclined pipes, or vertical pipes.

SUMMARY OF THE INVENTION Therefore, the purpose of the present invention is to solve the problems of the conventional techniques described above, and to provide a safe repair painting system that can remotely control a series of repair painting operations from the ground for cooling water pipes that form large diameter and complicated flow paths. The objective is to provide an efficient painting robot for repairing the inner surface of pipes.

[Structure of the invention]

(Means for Solving the Problems) In order to achieve the above object, the present invention moves self-propelled within piping and sequentially attaches and detaches a base treatment blasting device, a paint spraying device, and a painted surface inspection device on a gimbal pedestal. A traveling trolley that can be freely mounted, and a nozzle or a detection unit connected to each of the above devices are removably attached to the tip thereof and is mounted on the traveling trolley that pivots telescopically to follow the shape of the inner surface of the tube. an arm, a tube inner surface monitoring device that photographs the inner surface of the piping and transmits operation information of each of the devices, and supplies control signals and power source for remotely controlling each of the devices to the traveling truck from outside the piping. The invention is characterized in that it is equipped with a composite cable.

(Function) According to the present invention, a base treatment blasting device, a paint spraying device, and a painted surface inspection device are sequentially mounted on a gimbal pedestal of a traveling trolley that can self-propel inside a pipe, and expands and contracts according to the shape of the inner surface of the pipe. A painting nozzle and a detector are removably attached to the tip of a freely rotating arm, and a pipe inner surface monitoring device that photographs the inner surface of the pipe and transmits operation information of each of the devices is mounted on the traveling trolley. It is also equipped with a composite cable that supplies control signals and power sources for remotely controlling each of the above devices from outside the piping to the traveling trolley, so a series of repair and painting operations on the piping can be performed remotely from the ground. This allows for safe and efficient repair painting work.

(Embodiment) An embodiment of the painting robot for repairing the inner surface of a pipe according to the present invention will be described below with reference to FIGS. 1 to 4.

In FIG. 1, reference numeral 1 indicates the main body of the traveling truck. This traveling bogie 1 has a steerable front wheel 2a and a driving rear wheel 2.
A drive unit such as an electric motor for driving the rear wheels 2b is installed on the bogie chassis la. Further, a motor 3 is disposed at the front portion of the truck 1 with its rotating shaft 3a facing forward. A cylindrical actuator 4 is fixed to the rotating shaft 3a of the motor 3, and an arm 5 that is expandable and retractable in the radial direction is inserted into the actuator 4. This arm 5 is the rotating shaft 3 of the motor 3.
It is possible to rotate around a and expand and contract in the radial direction following the diameter of the pipe by the action of the actuator 4. A bracket 5a is formed at the tip of the am 5, and an attachment such as an airless nozzle for painting or a tester for inspection can be attached to this bracket 5a. In addition, the traveling bogie 1 and the arm 5 are equipped with a TV camera 6.6, which continuously photographs the repaired area on the inner surface of the tube and the front of the traveling bogie, and monitors the condition of the inner surface of the tube from the operation room on the ground. It is now possible to understand.

A gimbal pedestal 7 is fixed to the center of the traveling truck 1. This gimbal pedestal 7 is such that the main body of the base treatment blasting device, the main body of the coating device, and the main body of the painted surface inspection device can be hung separately and swingably. In other words, when using this device to perform a blasting process for painting the base of a repaired area on the inner surface of a pipe, it is only necessary to pivotally mount the base treatment blasting device body on the gimbal pedestal and attach a blasting tool to the tip of the arm 5. . Next, when performing painting work on repaired areas on the inner surface of the pipe using this device, the main body of the painting device is pivotally mounted on the gimbal pedestal 7, and the arm 5
All you have to do is attach an airless tool to the tip. Furthermore, in order to inspect the painted surface for pinholes, a pinhole inspection device may be pivotally mounted on the gimbal pedestal 7, and a pinhole tester may be attached to the tip of the arm 5. Since each of the devices on the gimbal pedestal 7 is swingably suspended on the gimbal pedestal 7 even when the traveling trolley 1 moves up and down in the vertical pipe, it can maintain its vertical posture.

Furthermore, an outrigger 8 is pivotally attached to the rear portion of the traveling carriage 1 so as to be rotatable. This outrigger 8 has a guide roller 9 at its tip and can be rotated by an actuator 10 provided at the bottom. When performing each of the above operations, the actuator 10 is operated to bring the guide roller 9 attached to the outrigger 8 into close contact with the inner surface of the pipe, thereby stabilizing the truck.

On the other hand, since this running bogie 1 is equipped with a power supply device 11 and an operation control device 12 on the ground, a power cable 13A and a control cable 13B from the ground are connected to the rear of the running bogie 1. Further, a winch 14 is installed on the traveling carriage 1. This winch 14 is used to lower and raise the traveling vehicle 1 within the vertical pipe, and the traveling vehicle 1 is suspended within the vertical pipe by a hanging wire 15 wound around the winch 14. In order to prevent the traveling truck from falling when the hanging wire 15 breaks, a braking device is provided that can hold the weight of the traveling truck on the inner surface of the tube.

Next, the state in which the robot for repairing and painting the inner surface of a pipe is placed inside a pipe will be explained using FIG. 2. In FIG. 2, reference numeral 16 indicates a circulating water pipe. This circulating water pipe 16 is buried underground outside the power plant building.
A steel cylindrical pipe with a diameter of 2 m or more is installed. A man hole 17 is provided at a predetermined position of this piping 16, and this man hole 17 can guide the movable cable 13A and the control cable 13B to the traveling truck 1, and can also guide the suspension wire 15. There is. Further, a gantry 18 is installed above the manhole 17, and this gantry 18
Above are the above-mentioned dynamic cable 13A and control cable 13B.
A winch 19 is provided for winding. Further, a guide pulley 20 is pivotally attached to the bottom of the tube directly below the winch 19, and this guide pulley 20 serves to change the direction of the movable cable 13A and the control cable 13B laterally. In addition, the above-mentioned dynamic cable 13
A and the control cable 13B form one composite cable 13, and the winch 19 is connected to this composite cable 1.
It is designed to wind 3.

Further, a fixed anchor 21 is provided on the gantry 18, and the hanging wire 15 from the traveling carriage 1 can be fixed thereto. It is also possible to attach a winch 14 on the gantry 18 instead of the fixed anchor 21 to reduce the weight of the traveling truck.

On the other hand, a dynamic cable 13A and a control cable 13B extending above the ground are connected to the power supply device 11 and the operation control device 12, respectively. The control panel of this operation control device 12 is equipped with a plurality of TV monitors and operation handles (not shown), and the TV monitor can monitor images taken by the TV right camera mounted on the traveling truck. .

Next, the structure and operation of each device body mounted on the gimbal pedestal of the robot will be explained along with repair procedures.

FIG. 3 shows the blasting device main body 22 and the blasting tool 23 attached to the tip of the arm 5. Both are connected by a pressure-resistant hose 24 having wear resistance.

Since the blasting device main body 22 is suspended on the gimbal pedestal 7 as described above, it can always maintain a vertical attitude regardless of the attitude of the traveling carriage 1. The interior thereof is composed of a recovery tank 26 for storing the blast particles 25 and a pressurized tank 27 for injecting the blast particles.These tanks 26.2
7 is connected to a pipe 28 for supplying compressed air. A conical hopper 26a is formed at the bottom of the recovery tank 26, and the pressure tank 27 is connected to the lower end of the hopper 26a. Further, a movable plug 29 is attached to the connecting portion between the two.

This plug 29 is operated by compressed air supplied from a pressurization source (not shown), and can open and close the hopper hole. This compressed air is connected to a drive section (not shown) of the plug 29 via a pressure regulating valve 30 and an electric valve 31A.

Further, a blast grain supply pipe 32 is connected to the tip of the hopper 27a at the bottom of the pressurized tank 27, and an electric valve 31B is provided in the circuit. Furthermore, there is a compressed air supply circuit 33 for increasing the injection speed of the blast particles 25 in the blast particle supply pipe 32, and a compressed air bypass for generating negative pressure at the inlet of the recovery tank 26 in order to increase the recovery efficiency of the blast particles. A pipe 34 is provided, and the opening and closing thereof are controlled by an electric valve 31C1 and an electric valve 31D, respectively.

Here, in order to inject the blast particles 25, an electric valve 31 is used.
A is opened and the plug 29 is closed to pressurize the inside of the pressurized tank 27. After that, the electric valve 31 of the blast particle supply pipe 32 is opened.
All you have to do is open B.

At this time, the blast particles 25 are sprayed onto the painted surface from the blasting tool 23 via the pressure hose 24A. The blast particles 25 are fine iron balls or the like, and the pressurized blast particles 25 are made to collide with the painted surface to peel off the damaged paint film, thereby performing base treatment. At this time, a bellows 35 made of hard rubber or the like is attached to the tip of the blasting tool 23. The bellows 35 and the piping surface are brought into close contact to prevent the blast particles 25 from scattering.

On the other hand, the injected blast particles 25 are sucked through the pressure hose 24B and collected into the collection tank 26.

The compressed air is exhausted upward in the recovery tank 26, and the blast particles 25 pass through an internal hopper 26b and are stored at the bottom of the tank.

Further, by closing the electric valve 31A and opening the plug 29, the blast particles 25 can be continuously resupplied into the pressurized tank 27.

Next, a description will be given of the painting work to be carried out on the area where the above-mentioned base treatment has been applied.

FIG. 4 shows a schematic structural diagram of a robot equipped with a coating device main body 36, a pressure-resistant paint hose 37, and an airless tool 38 in place of the above-mentioned blasting device main body 22, pressure-resistant hose 24, and blasting tool 23. Since the coating device main body 36 is suspended on the gimbal pedestal 7 like the above-described blasting device main body 22, it can always maintain a vertical attitude regardless of the attitude of the traveling carriage 1. A cartridge tank 39 is housed inside the coating device main body 36, and the cartridge tank 39 contains a two-component mixed paint 40 that has been mixed at a predetermined mixing ratio on the ground. This two-component mixed paint 40 includes:
For example, solvent-free paints that do not fall under the category of hazardous substances under the Fire Service Act are used, such as epoxy resin paints as the main ingredient and polyamide amine hardeners as the hardening agent. This paint 40 is pressurized into a pressure pump 41 together with compressed air supplied from a pressure source (not shown). At this time, the air pressure of the compressed air is 4
kg/c-, and therefore, the paint 40 has an area ratio of 1 due to the area ratio of the piston of the pressure pump 41.
80) Increased pressure to cg/c-. And the above paint 4
0 passes through the filter 42 while maintaining this pressure and is accumulated in the accumulator 43. This accumulator 4
3 and the pressure-resistant hose 37 are connected via an electric valve 44.

On the other hand, an airless tool 38 is attached to the bracket 5a at the tip of the arm 5, and an airless nozzle 38A is mounted inside the airless tool 38. Also,
The airless tool 38 is supported by a spring 43 and an air tube 44 so that it can expand and contract in the longitudinal direction of the arm 5.

Painting work is done using the airless nozzle 3 attached to the arm 5 above.
After positioning the arm 5 so that the distance Ω between the tip of the tube 8A and the inner surface of the tube is n-400±50, the electric valve 44 is opened, and the paint 40 pressurized in the accumulator 43 is instantly released. This is done by spraying it onto the pipe surface.

Further, the robot can also be used to perform pinhole inspection for quality inspection of the repair painting work performed in the above steps. That is, instead of the coating device main body, an inspection device main body is mounted on a gimbal pedestal, and a pinhole tester is fixed to the tip of the arm. By connecting the two with a signal cable and transmitting the inspection results to the ground, it is possible to grasp the inspection results of the coating quality in real time.

As another embodiment, the main body of the coating apparatus may include a main agent tank 47 and a curing agent tank 48, as shown in FIG. In this case, the base material 49 and the curing agent 50 are taken out at a predetermined ratio by the double-acting pressure cylinder 51 to the plunger pumps 52A, 52B, and the base material 49 and the curing agent 50 are further supplied to the mixer 53. and mixer 5
The inner surface of the tube can be coated by thoroughly mixing the mixture according to Step 3 and feeding the mixture under pressure to the airless nozzle 38A through the pressure hose 37 in the same manner as in the above-described embodiment.

Note that it is also possible to apply the coating using a roller, brush, etc. instead of using the airless nozzle.

〔Effect of the invention〕

As is clear from the above description, according to the present invention, a base treatment blasting device, a paint spraying device, and a painted surface inspection device are sequentially installed, and a painting nozzle and a detector can be attached and detached to the tip of a rotatable arm. At the same time, a pipe inner surface monitoring device that photographs the inner surface of the pipe is mounted on the traveling trolley, making it possible to perform a series of repair painting operations on the inner surface of the pipes remotely from the ground. This has the effect of improving safety and work efficiency.

[Brief explanation of drawings]

FIG. 1 is a front view showing an embodiment of a robot for repairing and painting the inner surface of a pipe according to the present invention, and FIG. 2 is a partial cross-sectional view showing an embodiment of the robot for repairing and painting the inner surface of a pipe according to the present invention.
FIG. 3 is a schematic structural diagram showing an embodiment of a blasting device according to the present invention, FIG. 4 is a schematic structural diagram showing an embodiment of a coating device according to the present invention, and FIG. 5 is a schematic structural diagram showing an embodiment of a coating device according to the present invention. FIG. 3 is a schematic structural diagram showing another example. 1... Traveling trolley, 3... Motor, 4.10... Actuator, 5... Arm, 6... TV left camera 7... Gimbal pedestal, 8... Outrigger-111.
...Motor power supply device, 12...Operation control device, 13...
・Composite cable, 14.19...Winch, 15...
・Hanging wire, 16... Piping, 22... Blast device main body, 23... Blasting tool, 24.37... Pressure resistant hose, 25... Blast particles, 26... Recovery tank, 27. ... Pressurized tank, 31.44 ... Electric valve,
35... Bellows, 36... Painting device body, 38...
...Airless tool, 39...Cartridge tank, 4
0...Paint, 41...Pressure pump, 42...Filter, 43...Accumulator, 47...Main agent tank, 48...Curing agent tank, 51...Double-acting pressurization Cylinder, 52...Plunger pump, 53...Mixer. Applicant's agent: Sato

Claims (1)

[Claims] While self-propelled within the piping, a base treatment blasting device, paint spraying device, and painted surface inspection device are installed on the gimbal pedestal in sequence.
A traveling trolley that can be detachably mounted, and a nozzle or a detection unit connected to each of the above-mentioned devices are detachably attached to the tip thereof, and the traveling trolley is configured to pivot telescopically following the shape of the inner surface of the tube. A mounted arm, a tube inner surface monitoring device that photographs the inner surface of the piping and transmits operation information of each of the devices, and a control signal and power source for remotely controlling each of the devices that are transmitted from outside the piping to the pipe. A robot for repairing and painting the inner surface of a pipe, characterized by being equipped with a composite cable that is supplied to a trolley.