JPH06155255A - Pipe inner surface grinding device - Google Patents

Abstract

PURPOSE:To provide a pipe inner surface grinding device which can easily carry out the grinding work even in case of a pipe having a small diameter and a bent part. CONSTITUTION:A pipe inner surface grinding device is equipped with a device body 21 which is formed to a flexible tubular shape and can be freely inserted into a pipe 13, expandable air holder 23 which is installed on the device body 21, ring gear 54 installed in a rotatable manner on the device body 21, a plurality of hooks 55 which can be projected from the device body, meshed with the ring gear, centering driving mechanism 29 which is connected through a cable 28 with the ring gear 54, swing body 60 which is installed at the top edge part of the device body 21, and a swing driving mechanism 32 which is connected with the swing body 60 through cables 30 and 31. Further, the pipe inner surface grinding device is equipped with a rotary grinding wheel 25 which is supported in a rotatable manner on the swing body 60 and is shiftable in the radial direction, driving motor 27 which is connected with the rotary grinding wheel 25 through a flexible shaft 26, and an air cylinder mechanism for shifting the rotary grinding wheel 25 in the radial direction.

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to various types of pipes, and more particularly to a pipe inner surface grinding device for grinding weld beads on the inner surface of small diameter pipes.

[0002]

2. Description of the Related Art In various pipes formed by joining a plurality of pipes by welding or the like, weld beads are attached to the inner surface of the connecting portion. Therefore, conventionally, this welding bead has been removed using an internal grinding device.

[0003]

However, it is difficult to remove the weld bead formed on the inner surface of a pipe having a small diameter and having a bent portion such as a vent or an elbow. However, the reality is that no bead grinding work was performed. However, from the viewpoint of improving the reliability of the pipe, it has been considered that it is not preferable to leave the inner weld bead of the pipe as it is without removing it.

The present invention solves such a problem, and an object of the present invention is to provide a pipe inner surface grinding apparatus capable of easily performing grinding work even for a pipe having a small diameter and having a bent portion. To do.

[0005]

SUMMARY OF THE INVENTION A pipe inner surface grinding apparatus of the present invention for achieving the above-mentioned object is a device main body which has a flexible tubular shape and can be inserted into the pipe, and which is attached to a middle part of the device main body. An air holder that can be expanded and contracted by supplying and discharging compressed air, a ring gear that is rotatably attached to the apparatus body, a centering mechanism that is composed of a plurality of claws that mesh with the ring gear and can project from the apparatus body, and a cable to the ring gear. A cylinder mechanism connected via
An oscillating body rotatably attached to the tip of the apparatus body, an oscillating drive mechanism connected to the oscillating body via a cable, a rotatably supported by the oscillating body, and a rotary shaft having a diameter A rotary grindstone supported in a directionally movable manner, a drive motor connected to a rotary shaft of the rotary grindstone via a flexible shaft, an air cylinder mechanism for moving the rotary grindstone in a radial direction, and an outer periphery of the rotary grindstone. And a fiberscope attached to the tip of the main body of the apparatus having a camera portion at the tip.

[0006]

[Operation] When a pipe having a small diameter and a bent portion is ground by the pipe inner surface grinding device, first the device body is inserted into the pipe and moved to a position where grinding is performed, and compressed air is applied at the grinding position. The air holder is inflated by the supply of, and pressure-contacts the inner surface of the pipe to hold the position. Next, the ring gear is rotationally driven by the cylinder mechanism via the cable to cause the claws to project toward the inner surface of the pipe, thereby performing centering. Then, while the inside of the tube is being monitored by the fiberscope, the rotary grindstone is driven to rotate by the drive motor via the flexible shaft and the swinging body is swung by the swing drive mechanism via the cable, so that the rotary grindstone falls within a predetermined angle range. Grinding work is performed by rocking and moving the rotating grindstone by the air cylinder mechanism and pressing it against the inner surface of the pipe.

[0007]

Embodiments of the present invention will now be described in detail with reference to the drawings.

FIG. 1 is a schematic configuration of a pipe inner surface grinding apparatus according to an embodiment of the present invention, FIG. 2 is a cross section showing an inserted state of a device main body into a pipe, FIG. 3 is a front view of an air holder, and FIG. 4 is a cross section of the air holder. 5, FIG. 5 is a plan view of the tip of the apparatus body showing the grinding mechanism, FIG. 6 is a front view of the tip of the apparatus body, and FIG.
VII-VII cross section of FIG. 8, FIG. 8 VIII-VIII cross section of FIG.
IX-IX cross section of FIG. 7, FIG. 10 XX cross section of FIG.
1 is a plan view of the centering drive mechanism, FIG. 12 is a cross section of the centering drive mechanism, and FIG. 13 is a plan view of the swing drive mechanism.
FIG. 14 shows a cross section of the rocking drive mechanism, and FIG. 15 shows a description of the rocking state of the rotary grindstone.

In the pipe inner surface grinding device of this embodiment, as shown in FIGS. 1 and 2, the device main body 21 which can be inserted and moved into the pipe 13 having the curved portion 11 and the bead 12 formed on the inner surface is flexible. The inner surface grinding mechanism 22 is attached to the tip portion and the air holder 23 is attached to the middle portion. The inner surface grinding mechanism 22 includes a tip guide 24 and a rotary grindstone 25 which will be described later, and a grindstone drive motor 27 is connected to the rotary grindstone 25 via a flexible shaft 26. Further, a centering drive mechanism 29 is connected to the inner surface grinding mechanism 22 via a control cable 28.
A swing drive mechanism 32 is connected via 0 and 31 respectively.

The pipe inner surface grinding apparatus is equipped with a controller 34 having a monitor 33, and is connected with a grindstone drive motor 27, a centering drive mechanism 29, and a swing drive mechanism 31. Further, a fiberscope 35 having a camera portion at the tip is attached to the apparatus main body 21, and the fiberscope 35 also has a controller 34.
It is connected to the. Although not shown, a drive power source and a compressed air supplier are connected to the controller 34.

In the air holder 23, as shown in FIGS. 3 and 4, the main body 41 has a hollow shape, and the flexible shaft 26 and the control cables 28, 3 are provided inside.
0, 31, a fiberscope 35, etc. are inserted. A bag-like expandable and contractible inflatable portion 42 is attached to the outer peripheral portion of the main body 41, and the inflatable portion 42 is connected to the other end of an air hose 43 having one end connected to the controller 34. Therefore, by supplying compressed air to the inside of the holding portion 42 via the air hose 43, the expansion portion 42
Expands and comes into pressure contact with the inner surface of the pipe 13, and the position of the apparatus main body 21 can be held by the air holder 23.

In the inner surface grinding mechanism 22, as shown in FIGS.
As shown in FIG. 0, a cylindrical outer frame 51 and an outer cover 52 are connected to the tip of the apparatus main body 21,
The inner frame 53 is relatively rotatably fitted to the inner peripheral surface of the outer cover 52 with a predetermined gap. A ring gear 54 is fixed to the outer peripheral surface of the inner frame 53, and three claws 55 having a rack that meshes with the ring gear 54 are provided on the outer cover 52 so as to be retractable from the outer cover 52. A spring 56 is stretched between the ring gear 54 and the outer frame 51, and one end of the ring gear 54 is connected to the centering drive mechanism 29 to the inner cable 57 of the control cable 28. The ends are joined.
In FIG. 8, 58 is a cable stopper.

Therefore, the ring gear 54 is rotated by the drive of the control cable 28, and the ring gear 54 is rotated.
Each claw 55 that engages with each other protrudes and the tip end is the pipe 1
The inner surface grinding mechanism 22 can be centered by abutting against the inner surface of the ring gear 3. When the drive of the control cable 28 is stopped, the ring gear 54 is reversely rotated by the urging force of the spring 56. , Each nail 5
5 returns to its original position.

An oscillating body 60 is relatively rotatably fitted to the inner peripheral surface of the inner frame 53 via a dry bearing 59. 2 along the circumferential direction on the outer peripheral surface of the rocking body 60.
One V-shaped groove is formed, and one end of each V-shaped groove is connected to the swing drive mechanism 32.
The inner cables 61 and 62 are wound in the opposite directions and connected. 8 and 10, 63 and 64 are cable stoppers formed on the outer frame 51 so as to project inward. Therefore, by alternately driving the inner cables 61 and 62, the rocking body 60 can be rocked back and forth within a predetermined angle range.

A through hole 65 having a T-shaped cross section is formed in the swinging body 60 along the axial direction.
Four guide shafts 66 are fixed in the inside along the direction orthogonal to the axial direction, and a moving block 67 is movable on the guide shafts 66, and is attached in one direction (upward in FIG. 7) by a spring 68. Has been supported. Further, a cylinder hole 69 is formed in the rocking body 60 so as to communicate with the through hole 65, and a piston 70 is movably supported in the cylinder hole 69 in the same direction as the moving direction of the moving block 67. One end of an air hose 71, one end of which is connected to the controller 34, is connected to the cylinder hole 69.

Therefore, the rocking member 6 is connected via the air hose 71.
When compressed air is supplied into the cylinder hole 67 of 0, the piston 70 moves downward in FIG. 7 by the pressure to press the moving block 67, and the moving block 67 can be moved in the same direction. ing.

A rotary shaft 73 is rotatably supported on the moving block 67 by a micro bearing 72. Two collars 74, 7 are provided on one end of the rotary shaft 73.
The rotary grindstone 25 is attached via 5, and is fixed by a washer 76 and a nut 77. The other end of the rotary shaft 73 is connected to the other end of the flexible shaft 26, one end of which is connected to the grindstone drive motor 27, by the connection holder 78. Therefore, when the grindstone drive motor 27 is driven,
The driving torque is transmitted to the rotary shaft 73 via the flexible shaft 26, and the rotary grindstone 25 can be rotationally driven.

A front cover 79 is fixed to the rotary grindstone 25 side of the rocking body 60, and the front cover 79 is fixed.
A guide 24 that covers a part of the outer periphery of the rotary grindstone 25 is attached to the. In addition, the rotary grindstone 25 of the moving block 67
On the side, a bearing guide 81 having a bearing 80 attached to the tip is attached in a vertically adjustable position in FIG. The bearing 80 contacts the inner surface of the pipe 13 to prevent excessive grinding by the rotary grindstone 25.

Further, the oscillator 60 has a fiberscope 3 attached thereto.
5, the compressed air supply pipe 82 is also supported, the air hose 83 connected to the controller 34 is connected to one end of the compressed air supply pipe 82, and the nozzle 84 is attached to the other end. Therefore, the fiberscope 35 can monitor the grinding condition by the rotary grindstone 25, and by supplying air from the nozzle 84 to the camera portion at the tip of the fiberscope 35, the grinding dust adhering thereto can be removed. It is like this.

The centering drive mechanism 29 shown in FIG.
As shown in FIGS. 1 and 12, an air cylinder 93 is fixed on a base plate 91 by a pair of mounting brackets 92, and a detent 96 having a roller 95 is fixed to the tip of the drive piston 94. . A cable guide 98 is fixed on the base plate 91 by a mounting bracket 97, and the control cable 28 connected to the ring gear 54 of the inner surface grinding mechanism 22 is connected and fixed to the cable guide 98. The inner cable 57 is inserted through the cable guide 98 and connected to the detent 96.

Therefore, when the drive piston 94 is pulled by the air cylinder 93, the inner cable 57 of the control cable 28 is pulled via the detent 96, and the ring gear 54 of the inner surface grinding mechanism 22 is rotated to cause each pawl 55. When the air cylinder 93 is stopped and the driving of the air cylinder 93 is stopped, the ring gear 54 is reversely rotated by the urging force of the spring 56, and the respective claws 55 are returned to their original positions.

In the swing drive mechanism 32, as shown in FIGS. 13 and 14, the block 10 is provided on the base plate 101.
2 is fixed, and a horizontal drive shaft 103 is rotatably supported in the block 102. The drive shaft 103 has a block 1 outside the block 102.
No. 02 and drive motor 105
Are connected by driving, and the worm 106 is fixed inside the block 102. Also, block 10
A vertical rotating shaft 107 is rotatably supported in the inside of the unit 2, and a worm wheel (not shown) that meshes with the worm 106 is fixed to the lower part thereof. A lid 108 is attached to an upper portion of the block 102, and a wheel 109 is fixedly attached to an upper portion of a rotating shaft 107 that penetrates the lid 108.

A cable guide 111 is fixed on the base plate 101 by a mounting bracket 110. The cable guides 111 and 112 are connected to the rocking body 67 of the inner surface grinding mechanism 22, respectively. 31 is connected and fixed, and inner cables 61 and 62 thereof are inserted through the cable guides 111 and 112 and wound around the wheel 109 in opposite directions to be connected. The wheel 10 is placed on the lid 108.
An encoder 113 for detecting the rotation angle of the wheel 109 is mounted coaxially with the encoder 9. Further, limit switches 114, 115 and 116 for detecting the origin position of the wheel 109 and the rotation limit position in each direction are mounted on the periphery of the wheel 109.

Therefore, when the drive motor 105 is driven,
The driving force is transmitted to the rotary shaft 107 via the speed reducer 104, the drive shaft 103, the worm 106, etc., and the wheel 109 fixed to the rotary shaft 107 rotates in either direction by a predetermined angle to thereby rotate the inner cable. One of 61 and 62 is pulled so that the rocking body 60 can be rocked.

When the bead 12 of the pipe 13 having the small diameter and the bent portion 11 is ground by the above-described pipe inner surface grinding device of the present embodiment, first, the device main body 21 is moved from the tip. It is inserted into the pipe 13 and moved to a predetermined position where bead grinding is performed. Then, when compressed air is supplied to the air holder 23 by the air hose 43 at this grinding position, the expansion portion 42 of the air holder 23 expands to come into pressure contact with the inner surface of the pipe 13 and the apparatus main body 21.
Are held in their grinding position.

Next, using the centering drive mechanism 29,
Control cable 28 by driving air cylinder 93
Is pulled, the ring gear 54 of the inner surface grinding mechanism 22 is rotated to project the claws 55, and the tip of the claw 55 is brought into contact with the inner surface of the pipe 13 to center the inner surface grinding mechanism 22. From this state, the grindstone drive motor 27 is driven to rotate the rotary shaft 73 via the flexible shaft 26, and the rotary grindstone 25 integrated with the rotary shaft 73 is rotationally driven. Then, using the swing drive mechanism 32, the drive motor 10
5 is driven in the forward and reverse directions to drive this driving force through the speed reducer 104, the drive shaft 103, the rotary shaft 107, etc.
9 and the wheel 109 is rotated within a predetermined angle range. Then, the control cables 30 and 31 are alternately pulled by the reciprocating rotation of the wheel 109, and the oscillating body 60 of the inner surface grinding mechanism 22 reciprocally oscillates within a predetermined angle range. Similarly, it reciprocally swings within a predetermined angle range.

Further, when compressed air is supplied from this state to the cylinder hole 67 in the oscillating body 60 of the inner surface grinding mechanism 22 by the air hose 71, the pressure causes the piston 70 to move and press the moving block 67. By moving 67 in the same direction, the rotary grindstone 25 moves together with the moving block 67, and the rotary grindstone 25 is attached to the pipe 1
It is pressed against the inner surface of 3. Therefore, this rotary whetstone 25
As shown in FIG. 15, the bead 12 of the pipe 13 can be ground by swinging within a predetermined angle range while rotating and being pressed against the inner surface of the pipe 13.

The above-described grinding work of the beads 12 of the pipe 13 can be performed by an operator operating the controller 34, and at this time, the pipe is attached by the fiberscope 35 attached to the tip of the apparatus main body 21. 1
The inside of 3 is photographed and monitored while watching the monitor 33, and the rocking angle and pressing force of the rotary grindstone 25 are adjusted by observing the grinding condition. When grinding dust or the like adheres to the camera portion of the fiberscope 35, compressed air is supplied by the air hose 3 and air is blown from the nozzle 84 to the camera portion of the fiberscope 35 to attach the grinding dust. To remove.

[0029]

As described above in detail with reference to the embodiments, according to the pipe inner surface grinding device of the present invention, the main body of the device is inserted into the pipe and the air holder is expanded at the grinding position so that the inner surface of the pipe is inflated. Pressing and holding the position, the ring gear is driven to rotate by the cylinder mechanism so that the claws project toward the inner surface of the pipe for centering, the rotary grindstone is driven to rotate by the drive motor, and the rocker is driven by the rocking drive mechanism. By swinging the rotary whetstone within a predetermined angle range, and further by moving the rotary whetstone by the air cylinder mechanism to press it against the inner surface of the pipe for grinding work, the pipe with a small diameter and a bent portion Even if it is, the grinding work can be performed easily, and as a result, the finishing accuracy inside the pipe is improved, the reliability of the pipe can be improved, and the nondestructive inspection is performed with high accuracy. , It can be readily implemented.

[Brief description of drawings]

FIG. 1 is a schematic configuration diagram of a pipe inner surface grinding apparatus according to an embodiment of the present invention.

FIG. 2 is a cross-sectional view showing an inserted state of a device body into a pipe.

FIG. 3 is a front view of the air holder.

FIG. 4 is a sectional view of an air holder.

FIG. 5 is a plan view of the tip of the apparatus body showing the grinding mechanism.

FIG. 6 is a front view of the tip of the apparatus body.

7 is a sectional view taken along line VII-VII in FIG.

8 is a sectional view taken along line VIII-VIII of FIG.

9 is a sectional view taken along line IX-IX in FIG. 7.

10 is a cross-sectional view taken along line XX of FIG.

FIG. 11 is a plan view of a centering drive mechanism.

FIG. 12 is a sectional view of a centering drive mechanism.

FIG. 13 is a plan view of a swing drive mechanism.

FIG. 14 is a sectional view of a swing drive mechanism.

FIG. 15 is an explanatory view showing a swinging state of a rotary grindstone.

[Explanation of symbols]

 11 Bent Part 12 Bead 13 Piping 21 Device Main Body 22 Inner Surface Grinding Mechanism 23 Air Holder 24 Guide 25 Rotating Grinding Wheel 26 Shaft That Runs Out of Deflection 27 Grinding Wheel Driving Motor 28, 30, 31 Control Cable 29 Centering Driving Mechanism 32 Swinging Driving Mechanism 34 Control Controller 35 Fiberscope 54 Ring gear 55 Claw 60 Oscillator 73 Rotation axis

Claims (1)

[Claims] 1. A device body having a flexible tubular shape that can be inserted into a pipe, an air holder that is attached to a middle portion of the device body and is expandable and contractible by supplying and discharging compressed air, and rotatably attached to the device body. A centering mechanism consisting of a ring gear and a plurality of claws that mesh with the ring gear and can project from the device body, a cylinder mechanism connected to the ring gear via a cable, and rotatably attached to the tip of the device body. An oscillating body, an oscillating drive mechanism connected to the oscillating body via a cable, and a rotary grindstone rotatably supported by the oscillating body and having a rotating shaft movably supported in the radial direction thereof. A drive motor connected to the rotary shaft of the rotary grindstone via a flexible shaft, an air cylinder mechanism for moving the rotary grindstone in the radial direction, and an outer periphery of the rotary grindstone. And a fiberscope attached to the front end of the main body of the apparatus, the guide having a camera portion at the end and a fiberscope attached to the front end of the apparatus main body.