JPH08296790A - Locating device in pipe - Google Patents

Abstract

PURPOSE: To provide an in-pipe locating device capable of accurately reproducing the same position in the vertical direction and circumferential direction of a pipe even if a functional unit is changed at any time according to the operational process. CONSTITUTION: A block 6 holding vertically movably a functional unit capable of inspection and repair to locate vertically the functional unit is hung down in a pipe body 1 together with a circumferentialy locating block connected pivotably to the upper part of the block 6. A pivotable shaft 29 on the lower end of the block 6 is pivotably journalled in a pivotable reference block 8 fixedly located on the bottom of the pipe body 1 to locate the functional unit 4 in the vertical direction and circumferential direction of the pipe body by the vertical movement of the functional unit 4 itself and pivoting of the block 6. When the functional unit is changed over to another one according to the operational process, the pivotable reference block 8 left on the block of the pipe body 1 is used in common for the block 6 to be at any time replaced to accurately coincide with the locating reference position.

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a pipe positioning device.

[0002]

2. Description of the Related Art In a vertically elongated tube such as a center pipe of a vertical shell-and-tube heat exchanger, it is necessary to inspect or repair at a lower position inside the tube. Since there are many cases where it is practically impossible for a worker to descend to the deepest part of the pipe and work,
It is considered that a functional unit that can be inspected or repaired is hung in the pipe body and the work is performed by the functional unit.

In this case, it is difficult to perform all the working processes related to inspection and repair by one functional unit. Therefore, it is necessary to select various functional units according to the working process at any time and suspend them in the pipe. I have to.

[0004]

However, when the work is carried out by the functional unit suspended in the pipe body, the functional unit and a predetermined work target portion in the pipe body in the vertical direction and the pipe circumferential direction. It is necessary to perform positioning, and it is necessary to hold the functional unit by an in-pipe positioning device having such a positioning function and hang it down in the pipe body, but when changing the functional unit according to the work process, Since it is necessary to replace the positioning device, it is difficult to accurately match the reference position for positioning the functional unit with the predetermined work target part in the pipe for the positioning device in the pipe that can be replaced at any time. There is a risk that the same position in the vertical direction and the pipe circumferential direction may not be accurately reproduced if the function unit is changed to Was Tsu.

The present invention has been made in view of the above situation, and even if the functional unit is changed at any time according to the work process,
An object of the present invention is to provide an in-tube positioning device capable of accurately reproducing the same position in the vertical direction and the circumferential direction of the tube.

[0006]

According to the present invention, a functional unit that can be inspected or repaired is held and hung inside a vertically extending tubular body, and a work target portion in the tubular body and the functional unit are suspended. A vertical positioning block for positioning the functional unit in an up-down direction and having a pivot shaft projecting downward at the center of the lower end of the positioning unit for positioning in the vertical direction and the circumferential direction of the pipe. A circumferential positioning block, which is rotatably connected to the upper part of the vertical positioning block and equipped with a suspending tool for suspending and supporting the upper end from above, and a rotary shaft of the vertical positioning block is detachably fitted. And a rotation reference block that rotatably supports the rotation shaft, and a clamp machine capable of individually fixing the position of each block to the inner peripheral surface of the pipe in each of the blocks. Is provided, and between the lower end of the vertical positioning block and the upper end of the rotation reference block, there is provided a rotation origin detection mechanism for detecting the rotation origin position of the other of the blocks relative to the other. It is a feature.

It is also possible to provide a lock mechanism for integrally fixing the rotating shaft with respect to the rotating reference block.

Further, a peephole penetrating in the vertical direction is formed at an appropriate position of the rotation reference block, and a reference is formed at the lower end of the vertical positioning block at an appropriate position in the circumferential direction of the pipe bottom. A reference line confirmation camera may be provided so that a line can be photographed through the peephole.

[0009]

Therefore, according to the present invention, the rotary shaft of the vertical positioning block is rotatably fitted into the rotary reference block which is fixed in position by the clamp mechanism at the bottom of the tubular body. The vertical positioning block is pivotally supported, the circumferential positioning block is fixed in position by a clamp mechanism, and the vertical positioning block is rotated, and the relative position of the vertical positioning block is rotated with respect to the rotationally fixed reference block. The origin detection mechanism detects and aligns.

Next, the vertical positioning block is rotated to position the functional unit in the circumferential direction of the pipe body, and the vertical positioning block moves the functional unit itself up and down to position the functional unit in the vertical direction. .

When the positioning of the functional unit is completed as described above, the work by the functional unit is started, and when the work by the predetermined functional unit is completed and it is necessary to change to another functional unit, the circumferential positioning is performed. After releasing the clamp mechanism, the block and the vertical positioning block are lifted and pulled out from the pipe body, and only the rotation reference block is left at the bottom of the pipe body.

Subsequently, a vertical positioning block holding different functional units for performing different operations and a circumferential positioning block rotatably connected to the upper portion of the vertical positioning block are attached to the tubular body. The rotary shaft at the lower end of the vertical positioning block, which is hung down, is fitted into the shaft holder of the rotary reference block left at the bottom of the tubular body, and the functional unit is positioned in the same manner as described above. Do different tasks.

When all the working steps are completed while replacing the circumferential positioning block and the vertical positioning block at any time, the clamp mechanism of the rotation reference block is released and the rotation reference block is extracted from the pipe body.

With this configuration, the functional unit is positioned in the vertical direction and the circumferential direction of the pipe with reference to the rotation reference block left on the bottom of the pipe, so that the functional unit can be changed at any time according to the work process. Even if the reference position for positioning the functional unit and the predetermined work target part in the pipe is accurately matched, and the circumferential positioning block and the vertical positioning block are replaced at any time, the vertical direction and the pipe circumferential direction The same position in will be reproduced exactly.

Further, when a lock mechanism for integrally fixing the rotating shaft to the rotating reference block is provided, the hoisting operation and the extracting operation of the rotating reference block with respect to the bottom portion of the pipe body are circumferentially positioned. It becomes possible to use the block and the vertical positioning block.

Further, a peephole penetrating in the vertical direction is formed at an appropriate position of the rotation reference block, and a reference line formed at an appropriate position in the circumferential direction of the pipe bottom at the lower end of the vertical positioning block. If a reference line confirmation camera is provided so that the can be photographed through the peephole, the reference line at the bottom of the pipe is confirmed by the reference line confirmation camera when the turning reference block is hung on the bottom of the pipe. At the same time, it becomes possible to perform positioning of the rotation reference block in the tubular body circumferential direction.

[0017]

Embodiments of the present invention will be described below with reference to the drawings.

1 to 7 show an embodiment of the present invention. In the drawings, reference numeral 1 shows a vertically extending pipe body to be inspected or repaired. In this embodiment, a vertical type pipe is used. The case of a center pipe of a shell-and-tube heat exchanger is illustrated, and the work target portion is a connecting portion 3 with a plurality of branch pipes 2 (heat transfer pipes) at a lower position in the pipe body 1. Has become.

Inside the pipe body 1, a functional unit 4 capable of inspecting and repairing is held, and the functional unit 4 and the connecting portions 3 are positioned vertically and in the circumferential direction of the pipe body 1. The positioning device 5 is suspended, and the pipe positioning device 5 is composed of a vertical positioning block 6, a circumferential positioning block 7, and a rotation reference block 8 which will be described in detail below.

The vertical positioning block 6 is provided with an elevating body 9 carrying the functional unit 4, and a plurality of elevating bodies 9 are provided between an upper base 10 and a lower base 11 (see FIG. It is designed to be guided in the vertical direction by the (four middle) lifting guide shafts 12.

Further, at a position above the upper base 10, a nut 13 rotatably held is rotationally driven so that a screw rod 14 screwed into the nut 13 can be projected and retracted downward. A vertical positioning motor 15 is provided, and the lower end of the screw rod 14 penetrates the central portion of the upper base 10 and is connected to the upper end of the elevating body 9.

Further, in the present embodiment, the functional unit 4 is exemplified as a position measuring unit equipped with a touch sensor 16 capable of detecting the position of the connecting portion 3 of each branch pipe 2 at the tip, and the diameter of the pipe body 1 Guide rail 17 extending in the direction
A nut 20 is attached to a support member 18 that moves along, and is screwed onto a rotatable screw rod 19 that extends parallel to the guide rail 17 on the upper surface of the support member 18.
Is fixed to the screw rod 19 so that the torque of the advancing / retreating motor 21 arranged at an appropriate position of the elevating body 9 can be transmitted to the screw rod 19 via bevel gears 22 and 23.
A nut 20 driven by the rotation of the screw rod 19.
The functional unit 4 is moved back and forth by the relative movement of.

Further, a work monitoring camera 24 is provided at an appropriate position of the lifting body 9 so that the vicinity of the tip of the functional unit 4 can be photographed.

Further, the upper base 10 is provided with a clamp mechanism 25 for fixing the entire position of the vertical positioning block 6 on the inner peripheral surface of the tubular body 1, and the clamp mechanism 25 is provided in the upper base 10. And a pair of cylinder portions 26 that are open in opposite radial directions.
It comprises a piston portion 27 slidably fitted inside and a rubber shoe 28 attached to the outer surface of both piston portions 27 so that the piston portion 27 can be retracted and retracted by air pressure.

Further, a rotating shaft 29 is provided so as to project downward at the center of the lower surface of the lower base 11, and the rotating shaft 2
Steel balls 30 and 31 are rollably provided at a plurality of circumferential positions and a lower end of a middle portion of the vertical direction 9, respectively.

The rotating shaft 29 is rotatably supported by being inserted into and removed from the shaft holder 32 of the rotating reference block 8 arranged below the vertical positioning block 6. However, in this embodiment, a lock mechanism 33 for integrally fixing the rotary shaft 29 to the shaft holder 32 of the rotary reference block 8 is provided as described in detail below.

That is, the rotating shaft 29 is composed of the steel balls 30,
It has a double structure including an outer cylinder 34 provided with 31 and a lock shaft 42 which is vertically moved in the outer cylinder 34 by an air cylinder 35 mounted on the lower base 11 side. Small-diameter part 3 at the middle and bottom of the direction
6, 37 are formed respectively, and a plurality of steel balls 38 are formed at the positions corresponding to the small diameter portions 36, 37 of the lock shaft 42 on the outer cylinder 34 side so as to surround the small diameter portions 36, 37. 39 is movably held outward in the radial direction, and the steel balls 38, 39 are located at positions on the inner circumferential surface of the shaft holder 32 of the rotation reference block 8 facing the steel balls 38, 39. A plurality of vertical grooves 4 for fitting
0 and an annular horizontal groove 41 are formed, the lock shaft 42 is pushed down by the air cylinder 35, and each steel ball 3
8 and 39 are fitted in the vertical groove 40 and the horizontal groove 41 on the inner peripheral surface of the shaft holder 32, respectively, so that the rotary shaft 29 can be integrally fixed to the shaft holder 32 of the rotary reference block 8. There is.

The shaft holder 32 of the rotation reference block 8 is engaged with the vertical guide groove 44 via the key 43 so that it can be moved up and down within the range defined by the vertical guide groove 44. There is.

Further, the rotation reference block 8 is provided with a clamp mechanism 45 for fixing the entire position of the rotation reference block 8 to the inner peripheral surface of the tubular body 1, and the clamp mechanism 45 has a shaft. Sliding holes 46 opened in three radial directions centering on the holder 32, sliding members 47 slidably accommodated in the sliding holes 46, and rubber shoes attached to the outer ends of the sliding members 47. 48, a guide roller 49 attached to the inner end of each sliding member 47, a leaf spring 50 that urges each sliding member 47 toward the shaft holder 32 side, and a lower portion of the shaft holder 32. Each of the rubber shoes 48 can be moved in and out by moving the shaft holder 32 up and down with respect to the rotation reference block 8.

A rotation origin 52 is provided at an appropriate position in the circumferential direction on the upper surface of the rotation reference block 8, and a rotation origin 52 is provided at an appropriate position in the circumferential direction on the lower surface of the vertical positioning block 6 so as to face the rotation origin 52. Is provided with a rotation origin sensor 53, and a rotation origin detection mechanism 54 configured by the rotation origin 52 and the rotation origin sensor 53 allows a vertical positioning block 6 with respect to the rotation reference block 8. The relative origin position of the rotation can be detected.

Further, a peephole 55 penetrating in the vertical direction is formed at an appropriate position of the rotation reference block 8.
In addition, when the rotation origin 52 and the rotation origin sensor 53 face each other, the lower base 11 of the vertical positioning block 6 is preliminarily set at an appropriate position in the circumferential direction of the bottom of the tubular body 1 through the peep hole 55. A reference line confirmation camera 57 is provided so that the formed reference line 56 can be photographed.

In addition, a rotary shaft 58 connected to the upper end of the vertical positioning block 6 is provided with a speed reducer 59 in the vertical intermediate portion of the circumferential positioning block 7 arranged above the vertical positioning block 6. A circumferential positioning motor 60 configured so as to be rotatable through is fixedly installed. At the upper end of the circumferential positioning block 7, a suspension for securing a wire suspended from an upper crane (not shown) or the like is fixed. The tool 61 is equipped.

Further, a clamp mechanism 62 for fixing the entire circumferential positioning block 7 to the inner circumferential surface of the tubular body 1 is provided above the circumferential positioning motor 60 in the circumferential positioning block 7. The clamp mechanism 62 includes an air cylinder 63 and an intermediate base 64.
A cam member 65 that is moved up and down at the axial center of the, and a sliding hole 6 that opens in three radial directions centering on the cam member 65
6 and a sliding member 6 slidably accommodated in each sliding hole 66.
7 and a rubber shoe 6 attached to the outer end of each sliding member 67.
8, a guide roller 69 attached to the inner end of each sliding member 67, and a leaf spring 70 that urges each sliding member 67 toward the cam member 65 side. Each rubber shoe 68 can be moved in and out of the sliding hole 66 by moving up and down with respect to the intermediate base 64.

A turning origin 71 is provided at an appropriate position on the upper surface of the vertical positioning block 6 in the circumferential direction, and a turning origin 71 is provided at an appropriate position on the lower surface of the circumferential positioning block 7 in the circumferential direction. A rotation origin sensor 72 capable of detecting the rotation origin sensor 72 is provided, and a rotation origin detection mechanism 73 composed of the rotation origin 71 and the rotation origin sensor 72 allows the circumferential positioning block 7 to the vertical positioning block 6 to be positioned. The relative origin position of the rotation can be detected.

In the drawing, 74 is each air cylinder 63, 35.
Or a hose joint for operating air used in the clamp mechanism 25 or the like of the vertical positioning block 6, 75 is a cable joint for power system or signal system, 76 and 77 are solenoid valves for various systems, 7
Reference numeral 8 denotes a power connection mechanism for electrically connecting the relatively rotating circumferential positioning block 7 side and the vertical positioning block 6 side, and 79 denotes the relatively rotating circumferential positioning block 7 side. A rotary joint for connecting working air or the like to the vertical positioning block 6 side, 80
Is a signal line reduction device, and 81 is a surveillance camera control device.

When inspecting or repairing the connection portion 3 with the plurality of branch pipes 2 at the lower position in the pipe body 1, the rotation origin in the rotation reference block 8 and the vertical positioning block 6 is determined. 52 and the rotation origin sensor 53 face each other, and the lock shaft 42 is locked by the air cylinder 35.
By pushing down to fit the steel balls 38 and 39 into the vertical groove 40 and the horizontal groove 41 on the inner peripheral surface of the shaft holder 32, respectively, so that the rotary shaft 29 can be attached to the shaft holder 32 of the rotary reference block 8. It is fixed integrally, and in this state, the pipe positioning device 5 is lifted above the pipe body 1 by a crane or the like (not shown).

At this time, the rotation reference block 8 is lowered by its own weight with respect to the shaft holder 32 fixed integrally with the rotation shaft 29, and with respect to the cam recess 51 under the shaft holder 32. Guide roller 4 of each sliding member 47
9, the sliding members 47 are pulled inward,
Since each rubber shoe 48 is not in contact with the inner peripheral surface of the tubular body 1, the lower clamp mechanism 45 is in the unclamped state.

Further, regarding the middle clamp mechanism 25 provided in the vertical positioning block 6, each piston portion 2
7 is drawn into the cylinder portion 26 by air pressure to keep the rubber shoes 28 in an unclamped state where the rubber shoes 28 do not contact the inner peripheral surface of the tube body 1. Further, regarding the upper clamp mechanism 62 provided in the circumferential positioning block 7, The cam member 65 is pulled up by the air cylinder 63 and the sliding members 67 are pulled inward, and the rubber shoes 68 are kept in an unclamped state in which they do not contact the inner peripheral surface of the tubular body 1.

Next, the in-pipe positioning device 5 is suspended in the pipe body 1, the suspension reference block 8 is temporarily stopped at a position close to the bottom of the pipe body 1, and the air cylinder 63 in the upper clamp mechanism 62 is suspended. Thus, the cam member 65 is pulled down to project the respective sliding members 67 to the outside, and the rubber shoes 68 are pressed against the inner peripheral surface of the tubular body 1 to fix the circumferential positioning block 7 on the inner peripheral surface of the tubular body 1.

Further, the circumferential positioning motor 60 provided in the circumferential positioning block 7 is driven to rotate the circumferential positioning block 7 and the turning reference block 8 to check the reference line provided in the vertical positioning block 6. The camera 57 stops the rotation at a position where the reference line 56 at the bottom of the tube body 1 is confirmed through the peep hole 55 of the rotation reference block 8, and the upper clamp mechanism 62 is again unclamped to position the pipe positioning device 5 in the pipe. Then, the hanging reference block 8 is restarted, and the rotation reference block 8 is landed on the bottom of the pipe body 1.

At this time, the shaft holder 32 of the rotation reference block 8 is pushed down by the weight of the circumferential positioning block 7 and the vertical positioning block 6, and the shaft holder 32 is moved.
The guide roller 49 of each sliding member 47 is pushed out from the lower cam concave portion 51 so that each sliding member 47 is projected outward, and each rubber shoe 48 is pressed against the inner peripheral surface of the tubular body 1 to rotate the reference block 8. Is fixed to the inner peripheral surface of the tubular body 1.

Next, each piston portion 26 of the middle stage clamp mechanism 25 is projected from the inside of the cylinder portion 26 by air pressure and each rubber shoe 28 is pressed against the inner peripheral surface of the pipe body 1, and the vertical positioning block 6 is attached to the inner peripheral surface of the pipe body 1. The circumferential positioning motor 60 is driven while the position is fixed to the position, and the circumferential positioning block 7 side is relatively rotated with respect to the position-fixed vertical positioning block 6 to rotate the origin 71 and the origin sensor 72. The rotation is stopped at a position facing each other, and the clamping mechanism 62 in the upper stage fixes the circumferential positioning block 7 on the inner circumferential surface of the tubular body 1.

The state of the pipe positioning device 5 is as follows: the circumferential positioning block 7, the vertical positioning block 6,
Each of the rotation reference blocks 8 has a rotation origin position (a rotation origin 71, 52 and a rotation origin sensor 72, 53) relative to each other.
Are facing each other), and
The pipe 1 is also in a state of being aligned with a predetermined rotation origin position (reference line 56 position), so to speak, the vertical direction between the connecting portion 3 of each branch pipe 2 and the functional unit 4 in the pipe 1 and the pipe. It is a reference posture when performing positioning in the circumferential direction of the body.

Then, the lock shaft 42 is pulled up by the air cylinder 35 to separate the steel balls 38, 39 from the vertical groove 40 and the horizontal groove 41 on the inner peripheral surface of the shaft holder 32, thereby the shaft of the rotation reference block 8 is removed. The rotation shaft 29 is rotatable with respect to the holder 32, the middle clamp mechanism 25 is released from the clamp state, and the circumferential positioning motor 60 is driven to drive the vertical positioning block 6
Is rotated to position the functional unit 4 in the circumferential direction of the tubular body 1, and the vertical positioning motor 15 is driven to move the lifting body 9 up and down to position the functional unit 4 in the vertical direction.

When the positioning of the functional unit 4 is completed as described above, the work by the functional unit 4 is started. Especially, in the case of the present embodiment, the functional unit 4 is the position measuring unit. The screw rod 19 is rotationally driven by the advancing / retreating motor 21 provided in the elevating / lowering body 9 to advance the functional unit 4 by the relative movement of the nut 20, the rotating position of the vertical positioning block 6 and the elevating / lowering of the elevating / lowering body 9. While further finely adjusting the position, the position of the predetermined connection portion 3 of the branch pipe 2 is reliably detected by the touch sensor 16 and recorded.

Further, when all the work by the functional unit 4 is completed, the functional unit 4 is retracted, and the upper and middle clamping mechanisms 62 and 25 are unclamped, and the circumferential positioning block 7 and the vertical positioning block are placed. 6 is lifted and pulled out from the pipe body 1, and only the rotation reference block 8 is left on the bottom of the pipe body 1.

Subsequently, a vertical positioning block 6 holding a different functional unit 4 for performing another work and a circumferential positioning block 7 rotatably connected to the upper part of the vertical positioning block 6 are provided. It is hung down on the pipe body 1, and the rotating shaft 29 at the lower end of the vertical positioning block 6
Is inserted into the shaft holder 32 of the rotation reference block 8 left on the bottom of the tubular body 1, and the functional unit 4 is inserted in the same manner as described above.
Is performed, and new work is performed by the functional unit 4.

However, with respect to the vertical positioning block 6 which is newly replaced, the lock mechanism 33 for integrally fixing the rotary shaft 29 to the shaft holder 32 of the rotary reference block 8 does not necessarily have to be provided and is locked. Axis 42
And an air cylinder 35 for vertically moving the lock shaft 42.
Etc. can be omitted.

That is, the rotation reference block 8 is replaced at any time according to the progress of work, and the circumferential positioning block 7 is replaced.
Also, since it is shared by the vertical positioning block 6 and the vertical positioning block 6, it is not necessary to pull out from the bottom of the tubular body 1 until all work steps are completed.

When all the working steps are completed while the circumferential positioning block 7 and the vertical positioning block 6 are replaced at any time, the circumferential positioning block 7 and the vertical positioning block 6 first suspended in the tubular body 1 are replaced. It is suspended again in the tube body 1, the rotary shaft 29 is fitted into the shaft holder 32 of the rotary reference block 8, and the air cylinder 35
By pushing down the lock shaft 42 to fit the steel balls 38 and 39 into the vertical groove 40 and the horizontal groove 41 on the inner peripheral surface of the shaft holder 32, respectively, the rotation of the shaft holder 32 of the rotation reference block 8 is prevented. When the moving shaft 29 is integrally fixed and the circumferential positioning block 7 and the vertical positioning block 6 are lifted in such a locked state, the shaft holder 32 is opposed to the rotation reference block 8 that is positionally fixed by the clamp mechanism 45. The guide roller 49 of each sliding member 47 is fitted into the cam recess 51 at the bottom of the shaft holder 32 and each sliding member 47 is pulled inward, so that each rubber shoe 48 is inserted into the tubular body 1. Since it does not come into contact with the peripheral surface, the lower clamp mechanism 45 is in the unclamped state, and the rotation reference block 8 moves in the circumferential direction positioning block 7 and the vertical direction. Tube with-decided Me block 6 1
It is pulled out from inside.

Therefore, according to the above-described embodiment, since the functional unit 4 can be positioned in the vertical direction and the circumferential direction of the tubular body 1 with reference to the rotation reference block 8 left at the bottom of the tubular body 1, the working process is performed. Even if the functional unit 4 is changed depending on the situation, the reference position for positioning the functional unit 4 and the connecting portion 3 of each branch pipe 2 in the pipe body 1 can be accurately matched, and the reference position can be replaced at any time. It is possible to accurately reproduce the same position in the vertical direction and the circumferential direction of the tubular body 1 in the circumferential positioning block 7 and the vertical positioning block 6 that are arranged.

The in-pipe positioning device of the present invention is not limited to the above-described embodiment, and the hoisting reference block is not limited to the hoisting reference block when the hoisting reference block is hung up or pulled out from the bottom of the pipe body. On the other hand, it is rational to use the circumferential positioning block and the vertical positioning block by providing a lock mechanism that integrally fixes the rotating shaft, but it is possible to hang it up and down using another loading / unloading means and to extract it. Needless to say, the work may be performed, and other various changes may be made without departing from the scope of the invention.

[0053]

According to the above-described pipe positioning device of the present invention, various excellent effects as described below can be obtained.

(I) According to the invention described in claim 1 of the present invention, the functional unit can be positioned in the up-down direction and the circumferential direction of the tubular body with reference to the rotation reference block left at the bottom of the tubular body. Therefore, even if the functional unit is changed at any time according to the work process, the reference position for positioning the functional unit and the predetermined work target part in the tubular body can be accurately matched, and the peripheral position can be replaced at any time. It is possible to accurately reproduce the same position in the vertical direction and the tubular body circumferential direction for the directional positioning block and the vertical positioning block.

(II) According to the second aspect of the present invention, the circumferential positioning block and the vertical positioning block are used for the lifting and lowering work of the rotation reference block with respect to the bottom of the pipe body. It can be carried out.

(III) According to the third aspect of the present invention, when the turning reference block is hung on the bottom of the pipe, the reference line of the bottom of the pipe is confirmed by the reference line confirmation camera. At the same time, the rotation reference block can be positioned in the pipe circumferential direction.

[Brief description of drawings]

FIG. 1 is a cross-sectional view showing a lower portion in an embodiment of the present invention.

FIG. 2 is a cross-sectional view showing an upper portion in one embodiment of the present invention.

3 is a view in the direction of arrow III-III in FIG.

FIG. 4 is a view in the direction of arrows IV-IV in FIG.

5 is a view in the direction of VV in FIG.

6 is a partially enlarged view of FIG.

FIG. 7 is a perspective view showing a lower portion of the embodiment of the present invention.

[Explanation of symbols]

 1 pipe body 3 connection part (work target part) 4 functional unit 5 pipe positioning device 6 vertical positioning block 7 circumferential positioning block 8 rotation reference block 25 clamp mechanism 29 rotation shaft 33 lock mechanism 45 clamp mechanism 54 rotation origin Detection mechanism 55 Peephole 56 Reference line 57 Reference line confirmation camera 61 Lifting tool 62 Clamp mechanism

Claims (3)

[Claims] 1. A functional unit that can be inspected or repaired is hung inside a vertically extending tubular body,
What is claimed is: 1. A pipe positioning device for positioning a work target portion in the pipe body and the functional unit in a vertical direction and a pipe circumferential direction, which holds the functional unit so as to be able to move up and down, and a downward pivot shaft at a lower end center portion. A vertical positioning block having a protruding portion, a circumferential positioning block rotatably connected to the upper part of the vertical positioning block, and provided with a suspender for suspending and supporting the upper end from above, and the vertical positioning block. And a rotation reference block that rotatably supports the rotation shaft so that the rotation shaft of the block can be detachably inserted. A clamp mechanism that can fix the position individually is provided, and between the lower end of the vertical positioning block and the upper end of the rotation reference block, the relative rotation of one of the two blocks with respect to the other Tube positioning device, characterized in that the rotation origin detection mechanism for detecting the point location is provided. 2. The in-pipe positioning device according to claim 1, further comprising a lock mechanism for integrally fixing the rotation shaft with respect to the rotation reference block. 3. A viewing line penetrating in the vertical direction is formed at an appropriate position of the rotation reference block, and a reference line formed at an appropriate position in the circumferential direction of the bottom of the tubular body is provided at the lower end of the vertical positioning block. 3. A reference line confirmation camera is provided so that an image can be taken through the peephole.
In-tube positioning device according to.