JPH06269940A - Working equipment of membrane for underground tank - Google Patents

Abstract

PURPOSE:To provide an equipment which can execute the automatic continuous welding of the whole circumferential weld seam of each membrane stretched over a concrete body of an underground tank by anchor bolts, and can carry out the automatic flaw test of the welded joint part. CONSTITUTION:Frame bodies 1,20 which are suspended in an elevatable and transversely movable manner along the inner wall of a concrete body, and can surround a number of membranes 2 are provided with guide means l5,26,26a which are elevatable and transversely movable and analogous in the shape to that of a single membrane 2. These guide means are provided with a copying means of the membrane circumferential edge part, and a means to weld the membranes, a means to carry out the flaw test or the like are mounted thereon in a changeable manner.

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a construction facility for automatically welding membranes attached to the inner wall surface of a concrete skeleton constituting an underground storage tank and inspecting for welding defects.

[0002]

2. Description of the Related Art As a tank inner peripheral wall membrane welding device, a vertically long supporting frame having a suction cup that hangs along a tank inner peripheral die (membrane) from above the tank and is arranged on the welding line, A guide rail that is provided along the longitudinal direction thereof and that guides the welding tool so that it can move up and down, and a support frame moving member that hangs the support frame and is provided so as to run along the upper edge of the tank. Constitutes a welding device. Further, the support frame moving member is composed of a track provided annularly along the upper edge of the tank, and a bogie movably supported on the track. The gondola lifting frame and the support frame are provided so as to hang down. When performing membrane welding,
The supporting frame is positioned on the vertical welding line to be welded by the traveling movement of the carriage, and the height adjustment is performed by the winch. Since the support frame is formed to have an appropriate length, a plurality of support frames are connected in series by wires or the like according to the depth of the tank, and welding is performed at each stage. The suction board is seated on the membrane by rotating the handle,
The support frame is fixed by suction with a vacuum pump.
When the support frame is set, the welding torch of the welding tool is moved from above to below the guide rail with the welding torch facing the welding line to perform welding. A welding apparatus has been proposed in which, after welding is completed, the suction action of the suction cup is released to move the support frame to the next welding line in the vertical direction. (For example, JP-A-5
(See Japanese Patent Publication No. 8-224079)

Further, the vertical support frame is moved to a desired position on the inner wall of the tank by the traveling movement of the trolley, and the suction plate is seated and adsorbed on the inner wall of the tank (membrane) to stabilize the support frame and guide in a horizontal posture. Position the rails along the horizontal weld line. Welding is performed by moving the welding tool along the guide rail while generating an arc from the welding torch. There is proposed a tank inner peripheral wall membrane welding apparatus that moves the guide rail to the horizontal welding line of the next stage by the lifting / lowering tool after the welding of the first stage is completed, and performs the welding work successively in this manner. (For example, JP-A-58-2
(See JP 24080)

[0004]

The former of the above-mentioned conventional examples is the welding means for the vertical welding line of the membrane, and the latter is the welding means for the horizontal welding line of the membrane, both of which are Not only the entire circumference of the membrane, that is, the welding lines on the four sides cannot be continuously welded,
There is a problem that the supporting frame is moved frequently and the welding workability cannot be improved, and the equipment cost is increased. Furthermore,
It takes a lot of time and labor because an inspector rides on a gondola and requires flaw detection inspection processing of the membrane welded part and visual observation judgment. In addition, consideration for safety in high-place work is required. There is an inconvenience.

It is an object of the present invention to provide a facility capable of automatically and continuously welding the entire circumference welding line of each membrane stretched on the concrete frame of an underground storage tank by anchor bolts, and automatic flaw detection inspection means for welded joints. To provide.

[0006]

The structure of the present invention for solving the problems of the prior art is such that it is suspended along the inner wall surface of a concrete skeleton that constitutes an underground storage tank so that it can be moved up and down and moved left and right. A rectangular frame surrounding a large number of membranes attached to the inner wall surface of the concrete skeleton, and ascending / descending and traversing in a region surrounded by the frame,
A carriage having a shape of a shape that can continuously circulate around the attached single membrane peripheral portion, and a carriage that has a copying means of the peripheral edge portion of the membrane and that can be moved to the guide means.
It consists of various construction means such as automatic welding means for membranes that can be exchangeably mounted on the carriage, automatic flaw detection inspection means for welded joints, and the like.

[0007]

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS Next, details of embodiments of the present invention will be described with reference to the drawings. FIG. 1 is a perspective view of the equipment of the present invention, FIG. 2 is a front view of the equipment of the present invention, FIG. 3 is a perspective view of a main portion showing a relationship between a guide rail and a processing device, and FIG. 4 is another embodiment of the equipment of the present invention. FIG. 5 is an enlarged front view of the main part of FIG. 4, and FIG. 6 is a flowchart of the automatic flaw detection inspection means.

The details of the first embodiment will be described with reference to FIGS. 1 is a rectangular frame whose front shape is long in the vertical direction,
The frame 1 is configured to enclose a large number of membranes 2 stretched on an inner wall of a body (not shown) of an underground storage tank for liquefied gas such as LPG. At the four corners of the frame 1 and at appropriate places on each side, the protrusions 3 fixed to the anchor bolts (not shown) for fixing the membrane 2 to the body via a cold insulator (not shown). Is provided. Wires 4 of a winch mechanism (not shown) mounted on a moving body (not shown) installed on the upper side of the frame are connected to both ends of the upper side of the frame 1, and the winch mechanism moves the frame 1 up and down. It can be moved up and down in any direction, and can be freely moved in the left-right direction by the moving body. Reference numeral 5 in FIG. 1 is a gondola having a winch mechanism 6 on the left and right sides, and an operator and an inspector board the gondola 5 so that welding work and inspection work can be monitored.
Is configured to be moved left and right by a suspension means similar to the frame body 1, and can be moved up and down by winding and rewinding the wire 7 by the winch mechanism 6. Reference numeral 8 shown in FIG. 1 denotes a shelf frame provided on the lower side of the frame body 1. The shelf frame 8 has, for example, a penetrant tank necessary for performing a flaw detection inspection of a membrane welded joint, and an excess penetrant removing agent. , A powder recovery tank for absorbing excess surplus penetrant liquid, a developer tank, a monitor image processing device, and other supporting equipment 9 and a controller 10.

As is clear from FIG. 1 and FIG. 2, vertical frame rails 11 are provided inside the frame 1 near the left and right vertical sides, respectively.
Are provided in parallel with each other, and vertical moving devices 1 controlled by NC data by the control device 10 on both vertical frame rails 11, respectively.
2 is provided, and both vertical moving devices 1 facing each other are provided.
A horizontal frame rail 13 is installed horizontally between the two. The horizontal frame rail 13 is provided with a traversing device 14 that is NC data controlled by the control device 10, and the traversing device 14 is also provided.
Is arranged on the back side of the horizontal frame rail 13,
Further, a square guide frame rail 15 having a shape similar to the one membrane 2 and slightly smaller than the membrane 2 is provided. As is apparent from FIG. 3, a carriage 16 controlled by NC data by the control device 10 is movably attached to the guide frame rail 15. The carriage 16 has a lower surface or an upper surface on which the membrane 2 is attached. An arm 17 projecting in the peripheral direction is provided. Then, at the tip of the arm 17, an arc welding head having a welding line copying sensor between the membranes, a penetrant applying means having a welding joint line copying sensor, and an excess penetrating liquid powder having a welding joint line copying sensor. Cleaning means,
Developer application means having a welded joint line copy sensor,
It has a welded joint line copy sensor, and the shelf frame 8
Monitor image processing device (support equipment) on or above ground
A CCD camera head or the like for sending a flaw detection signal to 9 is detachably mounted. Incidentally, FIG. 3 shows C
An embodiment is shown in which a CCD camera head 18 equipped with a CD camera 18a is mounted on the arm 17 of the carriage 16, and the CCD camera head 18 is connected via a cable 19 to the control device 10, monitor image processing device (supporting equipment). ) 9 is connected.

[0010]

[Description of Operation] The configuration of the above-described first embodiment, more specifically,
The operation of the flaw detection inspection by the CCD camera head 18 shown in FIG. 3 will be described. The frame 1 is fixed to the front surface of the membrane by using the projecting pieces 3 provided at the four corners of the frame 1 and arbitrary portions on each side and the anchor bolts of the membrane 2.
Then, the vertical movement device 12 and the traverse device 14 are caused to travel by NC data control, and the guide frame rails 15 are positioned so as to correspond to the membrane 2 to be processed as shown in FIG. Based on the NC data and the input image data from the CCD camera 18a, the carriage 16 is moved so that the CCD camera head 18 follows the welding joint line indicated by the phantom line in FIG.
Runs along the guide frame rails 15 and moves around the membrane 2 for scanning. The CCD camera 18a captures an image of the instruction pattern appearing on the welded joint line by the penetrant inspection means or the ammonia leak means. Then, the captured image is processed by the image processing device (support facility) 9 to determine the welding defect indication pattern, and the image is displayed on the monitor. This judgment result is saved and output according to the determined format when necessary. After the flaw inspection of the welded joint portion of one membrane 2 is completed, the guide frame rail 15 is moved to another membrane 2 by NC data, and the same processing is performed. When the flaw detection inspection of all the membranes 2 in the region surrounded by the frame body 1 is completed, the connection between the projecting piece 3 of the frame body 1 and the anchor bolt is released to move the frame body 1 in the horizontal direction or in the vertical direction. It moves and fixes the frame 1 to an unprocessed part, and performs the same processing operation. The details are as shown in the flowchart of FIG. Although the image processing of the flaw detection inspection by the CCD camera head 18 has been described above, the same apparatus does not perform the processing such as the welding of the membranes, the application of the penetrant, the removal of the excess penetrant, and the application of the developer by the same method. However, the description of their operation will be omitted.

Next, details of the configuration of another embodiment will be described with reference to FIGS. In this embodiment, a front frame is a rectangular frame body 20 which is long in the vertical direction, and the left and right sides thereof are vertical frame rails 2.
It is configured as 0a. On the lower side of the frame body 20, the same supporting equipment 21 and control device 22 as those in the first embodiment are mounted. On the other hand, each of the vertical frame rails 20a is provided with a vertical moving device 23 which is controlled by NC data by a control device 22, and two vertical moving devices 23 are provided between the upper and lower ends of the facing vertical moving devices 23 in parallel and one sheet. A horizontal frame rail 24 having a space larger than one side of the membrane 2 is horizontally installed. The control device 2 is provided on both of the horizontal frame rails 24.
2 are provided with respective traversing devices 25 that are NC-controlled, and further, the traverse devices 25 are provided with upper and lower sides of a square frame rail 26 having a square front shape with a space larger than each side of the one membrane 2. Fasten. Then, the left and right vertical rail portions 26a formed on the rectangular frame rail 26
In addition, the vertical moving body 27 that is NC controlled by the control device 22.
And the upper and lower moving bodies 2 facing each other.
Horizontal guide rail 2 parallel to the horizontal frame rail 24 between 7
Cross 8 A carriage 29 controlled by NC data by the control device 22 is movably attached to the horizontal guide rail 28, and a head 31 pivotally supported by a turning shaft 30 is attached to a lower surface (or upper surface) of the carriage 29. The arc welding head, the penetrant applying means, and the excess penetrant described in the first embodiment are provided on the lower surface (or upper surface) of the head 31 and are connected to the support equipment 21 and the controller 22. A powder cleaning means, a developing solution applying means, a CCD camera head for sending a flaw detection signal to a monitor image processing device, etc. are detachably mounted.

[0012]

[Description of Action] The frame 20 is fixed to the front surface of the membrane by the same action as in the first embodiment. Next, the vertical movement device 23 and the traverse device 25 are caused to travel by NC data control,
The rectangular frame rail 26 is positioned so as to correspond to the membrane 2 to be processed. NC data and eg CC
According to the input image data of the D camera, the horizontal guide rail 28 is moved by the NC data movement control of the vertical moving body 27 so that the CCD camera head follows the welding joint line of the membrane 2, and the horizontal guide rail 28 is moved along the horizontal guide rail 28 by the copying means. To scan the CCD camera head. A signal that the CCD camera head has reached the corner of the welding joint line causes the head 31 to rotate 90 ° and then scans the welding joint line again. By sequentially performing this operation, the entire circumference of the membrane 2 is moved and scanned. . The data processing is the same as in the first embodiment. Then, after the flaw detection inspection of the welded joint portion of one membrane 2 is completed, the rectangular frame rail 26 is moved by the NC data to the other membrane 2 and the same processing is performed. When the flaw detection inspection of all the membranes 2 in the region surrounded by the frame body 20 is completed, the connection between the frame body 20 and the anchor bolt is released, and the frame body 20 is moved in the lateral direction or in the vertical direction. The body 20 is fixed to the untreated portion and the same treatment work is performed. Although the image processing of the flaw detection inspection by the CCD camera head has been described above, the same apparatus can perform the processing such as the welding of the membranes, the application of the penetrant, the removal of the excess penetrant, and the application of the developer by the same method. However, the description of their operation will be omitted.

Further, in the first and second embodiments described above, a plurality of frame bodies 1 and 20 are installed, and different construction means are attached to the respective carriages. For example, in the first carriage. An arc welding head, a penetrant coating means on the second carriage, a powder removing means of excess penetrant on the third carriage, a developer coating means on the fourth carriage, and a CCD camera head on the fifth carriage. It is possible to greatly shorten the construction period by mounting the above and operating the respective frames 1 and 20 to follow each other. Further, by arranging a plurality of groups each having the first to fifth different construction means, the construction period can be further shortened.

[0014]

As described above, according to the structure of the present invention, the following effects can be obtained. (A) By setting the frame once, a large number of membranes can be welded and inspected, and the workability can be improved, the construction period can be greatly shortened, and the economic effect is great. (B) Since the construction work such as welding and flaw detection is performed by NC data control with the entire circumference of each membrane as one unit, the movement frequency of the frame is greatly reduced compared to the conventional technique, and the work is further performed. It is possible to improve productivity and shorten the construction period.

[Brief description of drawings]

FIG. 1 is a perspective view of equipment of the present invention.

FIG. 2 is a front view of the equipment of the present invention.

FIG. 3 is a perspective view of a main part showing a relationship between a guide rail and a processing device.

FIG. 4 is a front view showing another embodiment of the equipment of the present invention.

5 is an enlarged front view of the main part of FIG.

FIG. 6 is a flowchart of automatic flaw detection inspection means.

[Explanation of symbols]

 1 Frame 2 Membrane 9 Support Equipment 10 Control Device 11 Vertical Frame Rail 12 Vertical Moving Device 13 Horizontal Frame Rail 14 Traverse Device 15 Guide Rail Frame 16 Carriage 17 Arm 18 CCD Camera Head 18a CCD Camera 20 Frame Body 20a Vertical Frame Rail 21 Support Equipment 22 Control device 23 Vertical movement device 24 Horizontal frame rail 25 Traverse device 26 Square frame rail 26a Vertical rail part 27 Vertical moving body 28 Horizontal guide rail 29 Carriage 30 Swivel axis 31 Head

─────────────────────────────────────────────────── ─── Continuation of the front page (51) Int.Cl. ⁵ Identification number Reference number within the agency FI Technical indication location B23K 37/02 F 7011-4E (72) Inventor Hideki Hattori 118 Futatsuka, Noda, Chiba Kawasaki Heavy Industries Ltd. Company Noda Factory (72) Inventor Masashi Taga 118 Futatsuka, Noda City, Chiba Prefecture Kawasaki Heavy Industries Noda Factory (72) Inventor Hiroki Yamada 118 Futtsuka, Noda City, Chiba Kawasaki Heavy Industries Ltd. Noda Factory

Claims (1)

[Claims] 1. A rectangular shape that hangs up and down along an inner wall surface of a concrete skeleton constituting an underground storage tank so as to be movable left and right, and surrounds a large number of membranes attached to the inner wall surface of the concrete skeleton. And a guide means having a shape capable of moving up and down and traversing in a region surrounded by the frame, and also having a shape capable of continuously circling the peripheral portion of the attached single membrane, and copying of the peripheral portion of the membrane. And a carriage that can be transferred to the guide means, and various construction means such as automatic welding means for membranes that can be exchangeably mounted on the carriage, automatic flaw detection inspection means for welded joints, and the like. Construction equipment for underground storage tank membrane.