JPH0568917A - Working robot in piping - Google Patents

Abstract

PURPOSE:To enable not only the automatic alignment of the center of piping and the center of revolution of a working arm by a simple structure but also the recovery treatment of a blast agent and a released paint film after blast treatment performed before repairing painting while enabling the remote detection of a part to be subjected to repairing painting and the accurate grasping of the position of said part. CONSTITUTION:A running truck 2 running through piping is equipped with a working arm 5 having an extensible revolving mechanism having a painting spray nozzle 8, a blast device 7 and a probe provided to the leading end thereof as end effectors, a press mechanism having a pressure roller 3 and a press arm 3a and a link mechanism 6. Further, a working truck 2A having paint tanks 11a,11b, a mixer 12 and a remote detection means of a part to be subjected to repairing painting is provided to the running truck 2.

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a working robot for traveling inside pipes to perform repair coating on the inner surface of the pipes, defect detection, position measurement and the like.

[0002]

2. Description of the Related Art As a traveling robot for working in a pipe, various applications have been filed for in-pipe inspection work and high-pressure water cleaning work. For example, JP-A-60-22979
In the "automatic remote cleaning device for pipes" described in Japanese Patent Laid-Open Publication No. 60-34781 and the "high-pressure jet water cleaning device" described in Japanese Patent Laid-Open Publication No. 60-34781, a work arm that swivels is provided on a bogie running in a pipe. The work is carried out while traveling inside. Various work contents can be considered such as repair, painting, flaw detection, etc. These are carried out by attaching various end effectors to the tip of the working arm and rotating them. When turning the working arm inside the pipe, when the arm is turned with the turning center of the piping and the turning center of the working arm deviated, the working tool provided at the tip comes into contact with the inner surface of the piping,
Since the inner surface of the pipe may be damaged, it is important to align the center of the pipe with the center of rotation of the working arm (hereinafter referred to as centering). In these devices, the turning center of the working arm is set on the assumption that the pipe diameter is known in advance, and the deviation amount in the actual diameter is the mechanism of the end effector at the arm tip of the working arm and the working arm. Corrected by contraction. However, it is premised that the pipe diameter is clear in advance. For example, it is difficult to apply it to a place where the pipe diameter changes during work, and it is difficult to mechanically align the robot itself.

In the device described in NKK Technical Report "Development of Inspection Robot for Hydraulic Iron Pipe", the fixed legs are extended in four directions by the cylinder drive, and the weight of the device is supported by this cylinder, and the center of the pipe and the center of the device are supported. Is matched with. According to this, since the weight of the robot is supported by the cylinder, the device itself is large in size, the structure is complicated, and it is necessary to make the cylinder strokes identical in four directions, which makes the control complicated. is there.

Further, in the "polishing of the inner surface of the pipe, the coating method and the polishing work trolley" described in Japanese Patent Application Laid-Open No. 2-43972, two sets of five and a total of ten opening / closing arms are used to perform centering. However, the work arm provided at the tip of the device is rotated to perform the cleaning and painting. In this device, many opening / closing arms have the same length, and not only the adjustment for supporting the same on the inner surface of the pipe is complicated, but also
In addition to the above-mentioned many open / close arms, many connecting rods, guide wheels,
It requires a telescopic arm, a pneumatic cylinder, a bracket, a fulcrum (pivot), etc., and its structure is extremely complicated, so that it cannot be said that it is easy to manufacture for providing an accurate alignment function.

Further, in recent years, paints used for repair coating in pipes are mainly made of an epoxy resin type organic solvent type, which is used by mixing a main agent and a softening agent at a constant mixing ratio. Thus, the paint after mixing has a certain pot life before hardening. Although this pot life varies depending on the temperature, it is about 2 to 4 hours in summer. Therefore, when it is applied to a pipe with a long mileage, this mixing work should have a function that can be implemented in the robot. desirable. "Automatic coating method for pipe inner surface and self-propelled coating device" described in JP-A-1-254274 and JP-A-60-24
In the "pipe lining device" described in Japanese Patent No. 8256, in order to solve the above object, the device is divided into a drive unit, a coating tank, a mixer, a coating machine, etc. A means for simultaneously mixing the liquid and coating is adopted. However, this apparatus only mixes and coats the two liquids and does not have the function of aligning the center of the pipe with the center of the apparatus.

[0006] Further, before the repair coating, it is necessary to perform a surface treatment on the coated surface, but in the past, it was often carried out manually with sandpaper or a grinder. It is difficult to mechanize this method as it is, and as an alternative method, spray a blasting agent on the target part of the inner surface of the pipe,
An undercoating treatment was developed by peeling off the coating film of that part with a blasting agent, but with this undercoating method, the blasting agent after use and the peeled coating film are scattered in the pipe,
There is a problem that the recovery process is difficult.

Furthermore, when performing repair coating, it is necessary to detect the target portion and also to perform inspection after coating. The target part of the repair coating is mainly the part where the paint surface is peeled off and the part with pinholes. The peeled portion is detected by a conventionally known ITV camera, and the pinhole is detected by a dedicated pinhole detector. Among them, for the detection of pinholes, conventionally, an operator traces the inner surface of the pipe with a probe having a conductive brush attached to this pinhole detector, and reads the deflection of the voltmeter displayed on the meter. It depended on the method of detection. However, the length of the probe cable for commercially available pinhole detectors is limited to a maximum of 8 m, and if the length is longer than this, the detector performance of the voltmeter deteriorates due to noise, etc., so it is applicable to long pipes. It was not possible, and remote detection inside the pipe was impossible. In addition, a method of detecting the position of the peeled portion of the paint or the detected pinhole by detecting the traveling distance of the device and grasping the length of the cable run has been known in the past, but the method runs in a long pipe of several 100 m. When grasping the running position, the device does not always go straight in order to run on the curved surface in the pipe, and since the slack in the cable itself is also generated, when the running start position is used as a reference, Accumulation of errors becomes enormous as the vehicle travels a long distance, and it becomes impossible to accurately grasp the position.

[0008]

As described above, in the conventional in-pipe working device, the center of the pipe and the working arm are aligned with respect to the change in the pipe diameter, or the center of the pipe and the center of the device are aligned. It was impossible or impossible, but the configuration and control of the device were complicated.

Further, in the surface treatment with the blasting agent carried out before the repair coating, there is a problem that the blasting agent after use and the peeled coating film are scattered in the pipe and the recovery process thereof is difficult.

Further, it is impossible to remotely detect a portion to be repair-painted on a long pipe, and if the detected position is measured with reference to the traveling start position, an error may occur as the vehicle travels a long distance. Due to the enormous accumulation, it was impossible to accurately grasp the target position for repair painting.

A first object of the present invention is to perform a work in a pipe which has a relatively simple structure and is capable of automatically aligning the center of the pipe and the center of rotation of the working arm with respect to an arbitrary pipe diameter. It is to provide a robot.

[0012] A second object of the present invention is to provide a blasting treatment carried out before repair painting, in which the blasting agent after use and the peeled coating film can be recovered without scattering in the piping. It is to provide a working robot.

A third object of the present invention is to provide an in-pipe work robot capable of remotely detecting a portion to be repair-painted and accurately grasping the detected position.

[0014]

In order to solve the above-mentioned problems, the present invention relates to a traveling carriage that travels in a pipe, an extendable and retractable working arm having an end effector attached to a tip thereof, and a traveling carriage attached to the traveling carriage. And a working robot in a pipe equipped with a swivel mechanism for swiveling the working arm in a circumferential direction of the pipe, the work robot being attached to the traveling carriage and swiveling about an axis orthogonal to the pipe axis to press it against the upper portion of the pipe. A pressing mechanism having a pressure roller, a link mechanism connected to the traveling carriage and the pressing mechanism, and having a turning mechanism of the working arm attached thereto,
And a link mechanism which is set so that the turning center of the working arm is always located at the center of the pipe by vertically moving the turning mechanism according to the turning angle of the pressure roller pressed against the upper portion of the pipe. Is characterized by.

Further, the end effector has a spray nozzle for painting, and is further connected to a work carriage connected to a rear stage of the traveling carriage via a connector capable of swinging vertically and horizontally, and to the work carriage. A basket attached so as to be swingable around a shaft passed to a fixed support member, a paint tank that is mounted in the basket and stores the main component of the paint and a curing agent independently, and a basket that is mounted in the basket And a mixer for mixing the main component of the paint and the curing material.

Further, the mixer for mixing the main component of the coating material and the curing agent comprises a 2-in-1-out static mixer in which two inlet passages merge to reach an outlet through a spiral through hole. Can be characterized.

Further, the end effector has a suction pad containing a blast nozzle, further comprises a compressor for pressurizing the blast agent, a suction pump connected to the suction pad via a suction hose, and It can be characterized in that a blasting device comprising a blasting agent sucked by a suction pump and a blasting tank for storing the peeled coating film is provided.

Further, the end effector has a probe equipped with a conductive brush for detecting a pinhole during coating of the inner surface of the pipe, and the voltage value generated in the probe is converted into a digital signal. It can be characterized in that the digital signal is provided with means for remote detection without attenuating the digital signal by converting it and sending it to a transmitter.

Further, a means for measuring a turning angle of the working arm and a traveling distance of the traveling carriage are measured, and the traveling distance measured value is corrected when passing through a built-up portion of a welding line of the pipe. And means for performing.

[0020]

In the present invention, a link mechanism having a swing mechanism for a working arm is provided, and the link mechanism moves the swing mechanism up and down in accordance with the swing angle of the pressure roller pressed against the upper portion of the pipe. The difference in diameter is automatically detected by the pressure roller, the link mechanism bends and stretches in accordance with the movement of the pressing mechanism, and the turning mechanism connected to the link mechanism moves up and down correspondingly. Thereby, the turning center of the working arm is adjusted so as to always coincide with the pipe center. Further, the above-described operation can be achieved by a simple configuration in which only the link mechanism and the pressing mechanism are provided.

Further, since the suction pad having the blast nozzle built therein as the end effector is attached and the blasting device having the above-mentioned configuration is provided, the blasting agent sprayed from the blast nozzle and the coating film peeled off the bottom portion of the suction pad. It is sucked by the suction pump through the suction hose connected to and is stored in the blast tank. Therefore, it is possible to prevent scattering of the blasting agent and the peeled coating film.

Further, a probe having a conductive brush for detecting a pinhole is attached as the end effector, and the voltage value generated in the pinhole is converted into a digital signal by a constant threshold value by tracing the inside of the pipe. ,
Since the remote detection means for sending this to the transmitter is provided, this digital signal is not affected by noise and is not attenuated. Therefore, it is possible to detect the pinball remotely.

Further, since the traveling distance of the traveling carriage is measured and the measured value of the traveling distance is corrected when passing through the buildup portion of the welding line of the pipe, if the error is large even when traveling for a long distance. Instead, it is possible to accurately grasp the target position for repair painting.

[0024]

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS A pipe work robot according to an embodiment of the present invention will be described below with reference to FIGS. First, the overall configuration of the work robot according to this embodiment will be described with reference to FIG. FIG. 1 is an overall view showing a state in which a work robot according to this embodiment is arranged in a pipe 1. The traveling carriage 2 having the traveling motors (not shown) and the steering motor 2a independent of the four traveling wheels 42 swings the pressing arm 3a having the pressure roller 3 at the tip about the axis orthogonal to the pipe axis. By doing so, the pressing mechanism 4 for pressing the pressure roller 3 against the upper portion of the pipe is mounted. Further, the working arm 5 which can be expanded and contracted by a built-in cylinder device (not shown) is connected to the turning motor 36a of the turning mechanism 36, and the pedestal 36b of the turning motor 36 projects from the traveling carriage 2 and the pressing arm 3a. It is connected to the inflection point of the link mechanism 6. A blast device 7 as an end effector and a spray nozzle 8 for spray painting are provided at the tip of the working arm 5. An ITV camera 9 for traveling monitoring is provided in front of the traveling vehicle 2, and an image of the ITV camera 9 can be monitored from an operation panel installed in an operation room. Further, in front of the traveling vehicle 2, a detector 32 for detecting the buildup portion 1a (see FIG. 8) of the welding line of the pipe is installed to correct the measured value of the traveling distance as described later. A trolley 2A equipped with a paint tank 11a and 11b and a two-liquid mixer 12 (see FIG. 4 or FIG. 5) is connected to a rear stage of the trolley 2 via a connector 10 which can be swung vertically and horizontally. It is structured to be indexed by the carriage 2.

The swivel mechanism 36 is for swiveling in the circumferential direction of the pipe so that the blast device 7 and the spray nozzle 8 provided at the tip of the working arm 5 can be set at any position in the pipe. The working arm 5 is swung by a swiveling motor 36a installed on a cradle 36b fixed to the inflection point of the link mechanism 6. In order to always keep the distance between the working arm 5 and the inner surface of the pipe constant, it is necessary to align (align) the center 1b of the pipe with the center of rotation. This is realized by the following configuration. .. That is, by the action of the link mechanism constituted by the link mechanism 6, the pressing arm 3a, the pressure roller swivel mechanism 4, and the traveling carriage 2, the pressing roller 3 and the traveling carriage 2 provided at the upper end position of the pressing arm 3a move. The turning center of the working arm 5 is always located in the center of the traveling wheel 42, and thus the turning center of the working arm 5 and the piping center 1b are always aligned (aligned) even if the pipe diameter changes. )be able to.

Next, an example in which the turning center of the working arm 5 coincides with the pipe center for different pipe diameters will be described with reference to FIG. FIG. 2 is a view in which the work robot according to the present embodiment is arranged in a pipe, and (a) shows a case where the pipe diameter is small,
(B) shows the case of a large pipe diameter. In addition, work trolley 2A
The paint tanks 11a and 11b and the two-liquid mixer 12 are omitted. The difference in pipe diameter is mechanically and automatically detected by the pressure roller 3, the link mechanism 6 bends and stretches in accordance with the movement of the pressing arm 3a, and in response to this, the link mechanism 6 is fixed at the inflection point. The turning center of the working arm 5 thus moved up and down so as to coincide with the pipe center 1b. At this time, the length of the working arm 5 is adjusted by a built-in cylinder so as to expand and contract in response to changes in the pipe diameter.

Next, details of the blast device 7 as an end effector installed at the tip of the working arm 5 are shown in FIG.
Will be explained. The blast device 7 is provided with a blast nozzle 14 inside a conical suction pad 13, and the blast nozzle 14 is connected to a blast tank 16 by a hose via a compressor 15 for feeding. A suction hose 19 is connected to the bottom of the suction pad 13, and further connected to a blast tank 16 via a suction pump 17. In this configuration, the blasting agent 18 supplied from the blast tank 16 is sprayed from the blast nozzle 14 by the compressor 15, scrapes off the coating film on the inner surface of the pipe 1, and removes the coating film and the suction hose 19 from the bottom of the suction pad 13. It is sucked by the suction pump 17 and returns to the blast tank 16 again. With this configuration, it is possible to prevent the used blasting agent and the peeled coating film from scattering around the pipe.

In this way, the inner surface of the pipe 1 whose coating film has been scraped off by the blast device 7 is then spray nozzle 8
Repaired and painted by. This repair coating is spray coating using the spray nozzle 8. In recent years, the main coating materials used are epoxy resin-based organic solvent types.
In this method, a base material and a curing material are mixed and used at a constant mixing ratio, and the coating material after mixing has a constant pot life until curing. Although this pot life varies depending on the temperature, it is about 2 to 4 hours in summer. Therefore, when it is applied to a pipe having a long mileage, it is desirable that the robot has a function capable of carrying out this mixing work. ..

The details will be described below with reference to FIGS. 4 and 5. FIG. 4 is a diagram schematically showing a configuration of paint tanks 11a and 11b mounted on the work carriage 2A shown in FIG. 1 and a two-liquid mixer 12 that mixes paints including a main agent and a curing agent. 5 is a schematic view showing a modified example of the two-liquid mixer shown in FIG. 4 using a static mixer. In FIG. 4, the two-liquid mixer 12 includes valves 20a and 20 for adjusting the mixing ratio of the two liquids.
b, an electric stirrer 21 that stirs and mixes the two liquids, a pump 22 that pushes the mixed liquid to the nozzle at a constant pressure, a mechanical filter 23, an accumulator 24, and a solenoid valve 25 that starts and stops the spraying work. Composed. The spray nozzle 8 is the same as that shown in FIG. The main agent and the curing agent stored in the paint tanks 11a and 11b are adjusted according to the mixing ratio of the valves 20a and
It is squeezed by b and mixed by the electric stirrer 21. The mixed paint is sent from the electric stirrer 21 by the pump 22 and sent under a constant pressure. Further, the mixed paint is filtered by a mechanical filter 23 to remove unnecessary solids in the paint to prevent clogging of the spray nozzle, and the accumulator 24 absorbs pressure fluctuations due to pump pulsation and is sent by a hose 8a. Then, the on-off valve 25 installed in the spray nozzle 8 is opened to blow out from the spray nozzle 8. These paint tanks 11a, 11
b and the two-liquid mixer 12 are the work cart 2A shown in FIG.
Mounted on.

In the pipe work robot according to this embodiment, the work carriage 2A is tilted when the position of the inclined pipe or the vertical pipe is reached, so that the paint tanks 11a and 11b and the two-liquid mixer 12 are always kept horizontal. It is installed in the following way so that it can be maintained. That is, as shown in FIG. 1, a shaft 28 is passed between two support members 26 fixed to the work carriage 2A, and a basket 27 is attached so as to be swingable about the shaft 28.
The paint tanks 11a and 11b and the two-liquid mixer 12 are mounted inside.

FIG. 5 shows a modification of the two-liquid mixer 12 shown in FIG. 4, in which the electric mixer 21 is replaced by a static mixer 29.
Is used. From the paint tanks 11a and 11b to the valves 20a and 20b and the pumps 22a and 22 respectively.
The base material and the curing material sent through b are sent to the static mixer 29 having a 2-in-1 out structure at a constant mixing ratio. In this static mixer 29, the two liquids fed from the two inlets join together and are agitated while flowing through the spiral through-hole at the tip of the two liquids, and then fed out from the outlet. The mixed paint is pressure-fed to the mechanical filter 23 in the next stage, and thereafter, the paint is blown out from the spray nozzle 8 in the same manner as the method shown in FIG.

The part to be subjected to the above-mentioned repair coating is the part where the paint is peeled off or the part where there is a pinhole.
In order to carry out repair work, it is necessary to detect the target part. Next, an embodiment in which a detection device for this purpose is installed will be described with reference to FIG. FIG. 6 shows the blast device 7 and the spray nozzle 8 of FIG. 1 as an end effector.
Instead of IT, IT that detects the peeled part of the painted surface inside the pipe 1
V camera 30 and conductive brush 3 for detecting pinholes
The state which attached the probe 31 provided with 1a (refer FIG. 7) is shown. The work cart 2A, the paint tanks 11a and 11b, and the two-liquid mixer 12 are omitted. The ITV camera 30 detects the peeled portion of the coated surface of the inner surface of the pipe 1, and the probe 31 detects the pinhole. The principle of detecting the pinhole is as follows. That is, if a conductive brush and a ground are provided on the inner surface (base material) of the pipe 1 and a high voltage is applied between them, and if there is a small through-hole inside the pipe-painted surface, which is an insulator, discharge will occur at the tip of this through-hole. Then, the presence or absence of a pinhole can be determined by detecting the voltage value.

FIG. 7 is a schematic diagram showing a pinhole detection system for converting the detected voltage value into a digital signal and processing it. Here, normally, the detected voltage value may be read by the deflection of the needle of the voltmeter 33. However, if the cable 33a becomes 8 m or longer, the detection performance of the voltmeter 33 deteriorates due to noise or the like, so it is long. It is necessary to enable remote sensing for piping. The pinhole detection system shown in FIG. 7 takes this remote detection into consideration, and detects the voltage value generated at 31 at 33, which is greater than a predetermined threshold value of the detected voltage with respect to time. The peak value is detected by the detection circuit 34, digitally converted and converted into pulses. This pulse is transmitted from the transmitter 35 in the next stage to the operation panel on the ground by an optical fiber.

It is necessary to grasp and memorize the positions of the peeled portions and pinholes on the coated surface detected as described above in the case of performing repair coating as the next work. In particular, when grasping the traveling position in a pipe having a length of several hundreds of meters, this working device does not always move straight in order to travel along a curved surface in the pipe. Accumulation of errors becomes enormous as the vehicle travels a distance. In the present embodiment, in order to solve this, the measured traveling distance is corrected by using the buildup of the weld line of the pipe. The details will be described below.

The pipes are generally connected by welding with a fixed length of about 5 m, and each connection is made by butt welding the groove, so that the inner surface of the pipe is
A welded padding portion having a height of about 3 mm is formed. The position measurement accuracy can be improved by detecting the build-up portion of this welding line and measuring the traveling distance with reference to it. FIG. 8 is a diagram showing a position measuring device for this purpose. The position in the circumferential direction of the pipe is determined by the turning angle of the working arm 5, and the position in the traveling direction is determined by the welding wire buildup portion 1a for pipe connection. It is measured by the traveling distance of the traveling wheel 42 with reference to. In FIG. 8, the turning angle of the working arm 5 is detected by the encoder 37, which is directly connected to the arm turning motor 36, as a rotation angle, converted by the converter 38 into angle data, and input to the storage device 39. Also,
The traveling position is measured by the number of rotations of the traveling wheel 42 as described below, and is corrected by detecting the buildup portion 1a of the welding line. That is, the welded portion 1a of the welding line of the pipe is detected by the electromagnetic thickness gauge 40 provided in the detector 32 installed in the preceding stage of the traveling carriage 2, but the electromagnetic thickness gauge 40 is usually 1
It has a detection system of less than mm, which makes it 2-3m.
It is possible to detect the weld deposit 1a having a height of about m, and this data is converted into a pulse signal by the pulse converter 41 and then sent to the measuring instrument 45. In addition, the traveling wheels 42
The rotation speed of the encoder 4 directly connected to the traveling motor 43
4 and is sent to the measuring device 45. In the measuring device 45, the measured value from the encoder 44 is corrected (reset) by the pulse signal from the pulse converter 41, and the traveling distance is measured by the rotation speed of the encoder 44 from that point on, and then the storage device is stored. Input to 39. With the above configuration, the pinhole position in the circumferential direction and the longitudinal direction of the pipe 1 can be accurately grasped.

According to this embodiment, the pressure roller 3 which is pressed against the upper portion of the pipe 1 by the action of the link mechanism constituted by the link mechanism 6, the pressing arm 3a, the pressure roller turning mechanism 4 and the traveling carriage 2. The center of rotation of the working arm 5 and the center of piping 1b can always be made to coincide with each other according to the angle of rotation of the pressing arm 3a provided with the center of piping 1b and the center of rotation of the working arm for any pipe diameter. It is possible to automatically align and.

Further, by installing the blasting device 7 having the constitution according to the present embodiment as an end effector, in the blasting treatment performed before the repair coating, the blasting agent after use and the peeled coating film are put in the pipe. It can be recovered without scattering.

Further, by attaching the probe 31 as an end effector and converting the generated voltage value into a digital signal, this digital signal is not attenuated, so that the pinhole can be remotely detected.

Further, since the traveling distance of the traveling carriage 2 is measured and the traveling distance measured value is corrected when passing through the weld overlay 1a of the welding line of the pipe 1, there is a large error even when traveling for a long distance. Instead, it is possible to accurately grasp the position to be the target of repair painting.

[0040]

According to the present invention, for any pipe diameter,
The center of piping and the center of rotation of the working arm can be automatically aligned. Moreover, this is realized by a simple configuration. As a result, it is possible to easily perform repair coating and detection of the target portion of repair coating for any pipe diameter.

Further, in the blasting treatment performed before the repair coating, the used blasting agent and the peeled coating film can be recovered without being scattered in the pipe.

Furthermore, not only can the remote detection of the portion to be repaired, but the detected position can be accurately grasped.

[Brief description of drawings]

FIG. 1 is an overall view showing a state in which a work robot in a pipe according to an embodiment of the present invention is arranged in a pipe.

FIG. 2 is a diagram in which the in-pipe work robot shown in FIG. 1 is arranged in a pipe, where (a) is a small pipe diameter and (b) is
Indicates the case of large pipe diameter. The work cart, the paint tank, and the two-liquid mixing machine are omitted.

FIG. 3 is a diagram illustrating a blasting device attached as an end effect at a tip of a work arm of the in-pipe work robot shown in FIG.

FIG. 4 is a diagram schematically showing a configuration of a paint tank mounted on the work carriage shown in FIG. 1 and a two-liquid mixer for mixing a paint composed of a main agent and a curing agent.

5 is a schematic diagram showing a modified example of the two-liquid mixer shown in FIG. 4 using a static mixer.

6 shows a state in which an ITV camera and a probe are attached as an end effector at the tip of a work arm of the in-pipe work robot shown in FIG. The work cart, the paint tank, and the two-liquid mixing machine are omitted.

7 is a schematic diagram showing a pinhole detection system for converting a detection voltage value obtained by the probe shown in FIG. 6 into a digital signal and processing the signal.

FIG. 8 is a diagram showing a position measuring device for grasping a position on the inner surface of the pipe which is a target for repair painting.

[Explanation of symbols]

 DESCRIPTION OF SYMBOLS 1 Piping 1a Welding buildup part 1b Piping center 2 Traveling trolley 3 Pressure roller 3a Pressing arm 4 Pressing mechanism 5 Working arm 6 Link mechanism 7 Blasting device 8 Spray nozzle 10 Coupler 11a, 11b Paint tank 12 2 liquid mixture Device 13 Suction pad 14 Blast nozzle 15 Compressor 16 Blast tank 17 Suction pump 18 Blasting agent 26 Support member 27 Basket 28 Shaft 29 Static mixer 31 Probe 31a Conductive brush 32 Detector 32 33 Voltmeter 34 Detection circuit 35 Transmitter 37 Encoder 38 Converter 39 Storage Device 40 Voltage Thickness Meter 41 Pulse Converter 42 Traveling Wheel 43 Traveling Motor 44 Encoder 45 Measuring Instrument

Claims (6)

[Claims] 1. A traveling carriage that travels in a pipe, an extendable work arm having an end effector attached to a tip thereof, and a swivel attached to the traveling carriage for rotating the work arm in a circumferential direction of the pipe. In the in-pipe work robot including a mechanism, a pressing mechanism that is attached to the traveling carriage and has a pressure roller that is pressed against the upper portion of the pipe by rotating around an axis orthogonal to the piping axis; A link mechanism that is connected to a pressing mechanism and has a swing mechanism of the working arm attached thereto,
And a link mechanism which is set so that the turning center of the working arm is always located at the center of the pipe by vertically moving the turning mechanism according to the turning angle of the pressure roller pressed against the upper portion of the pipe. In-pipe work robot characterized by. 2. The end effector has a spray nozzle for painting, and is fixed to the work carriage, and a work carriage connected to a rear stage of the traveling carriage via a connector that can swing vertically and horizontally. Mounted on the support member, which is swingably mounted around the shaft passed to the support member, a paint tank which is mounted in the basket and stores the main component of the paint and the curing agent independently, and the basket which is mounted in the basket. 2. The in-pipe work robot according to claim 1, further comprising a mixer for mixing the main component of the paint and a hardening material. 3. A mixer for mixing the main component of the coating material and a curing agent comprises a two-in-one static mixer in which two inlet passages merge to reach an outlet through a spiral through hole. The in-pipe work robot according to claim 2, characterized in that. 4. The end effector has a suction pad containing a blast nozzle, further comprises a compressor for pressurizing a blast agent, a suction pump connected to the suction pad via a suction hose, 2. The in-pipe work robot according to claim 1, further comprising a blasting device including a blasting agent sucked by a suction pump and a blasting tank for storing the peeled coating film. 5. The end effector has a probe provided with a conductive brush for detecting a pinhole during coating of the inner surface of the pipe, and a voltage value generated in the probe is converted into a digital signal. 2. The in-pipe work robot according to claim 1, further comprising means for remotely detecting the digital signal without attenuating the digital signal by converting the digital signal and sending the digital signal to a transmitter. 6. A means for measuring a turning angle of the working arm and a traveling distance of the traveling carriage, and a measured value of the traveling distance when passing through a welded portion of a welding line of the pipe. 2. The in-pipe work robot according to claim 1, further comprising means for correcting