JPS608156B2 - Underwater work equipment for cylindrical structures - Google Patents

Description

DETAILED DESCRIPTION OF THE INVENTION The present invention relates to a working device for a cylindrical structure in water.

With the recent progress in ocean development, many offshore or underwater structures have appeared, and welding, There is a need to automatically perform tasks such as removing deep scratches, painting, and cleaning.

An object of the present invention is to provide a device that automatically performs work on a cylindrical structure underwater, in which a plurality of members divided in the vertical direction are connected to each other by a connecting means to form a considerable gap around the cylindrical structure to be worked. a plurality of leg pressers, which are constructed so as to be assembled while leaving the cylindrical structure to be worked, and which have at least a rail portion that contacts a common plane on the upper surface thereof, and which can be fixed to the outer circumferential surface of the cylindrical structure to be worked while adjusting the distance from the structure; a first rail having an annular shape, and a first rail that is movably engaged and engaged via holding mechanisms provided on both ends of the rail portion of the first rail, and a position relative to the first rail by each holding mechanism. The first rail is configured such that it can be adjusted in the cervical direction and in the vertical direction, and can also be fixed to the first rail, and has a rail portion that is in contact with at least one plane on its upper surface.
A second rail that is a part of an annular shape with a larger diameter than the rail, and a work odor retention mechanism that is movably engaged and mounted on the rail portion of the second rail and whose height and position in the direction can be adjusted. We propose an underwater working device for cylindrical structures, which is characterized by being equipped with a working trolley.

In the device of the present invention, the second rail moves on the first rail and the second rail moves on the first rail.
A work trolley moves on the rails and can automatically perform tasks such as welding, flaw detection, painting, and cleaning of cylindrical structures. The device of the present invention has a split structure in which the second rail is movably engaged with the first rail, and the working trolley is movably engaged with the second rail. Since it is lightweight and easy to handle, it is easy for workers to handle it underwater, and the rails do not require any tools and can be easily set up manually by workers.

Since the device of the present invention has a double-layered structure with the first and second rails, it is possible to set the rails without the need for detailed setting from the beginning and without spending any effort on setting them to copy the work area. It is not affected by the unevenness of the structure or deposits such as shellfish, algae, and rust, and does not require pre-cleaning, so the setting is extremely efficient.

DESCRIPTION OF THE PREFERRED EMBODIMENTS An embodiment in which the present invention is applied to an apparatus for automatically welding a cylindrical structure laterally circumferentially in water will be described with reference to the drawings.

In FIGS. 1 and 2, a two-part cylindrical rail 2 (hereinafter referred to as the first rail) is installed on a cylindrical structure 1 with an arbitrary number of leg pressers 3, 3 provided in the circumferential direction, A bogie traveling rail 4 (hereinafter referred to as a second rail) constituting a part of the circumference is set thereon so that wheels 5 provided on the left and right sides thereof are engaged with the upper part 6 of the first rail.

Next, the welding cart 7 is mounted so that its wheels 8 engage the second rail, and the second rail is adjusted to be parallel to the welding line 9, thereby completing the setting. After that, welding cart 7
A welding torch (not shown) is mounted on the machine to perform welding. The detailed structure and operation of each part will be explained with reference to FIG. 3 and subsequent figures. Third
5 to 5 show details of the first rail. In FIG. 3, 2 is the first rail whose entire circumference is divided into two parts, and the upper part 6 of the first rail is the track for the wheels of the second rail.

The first rail 2 may be made of iron, but in consideration of rust and weight reduction, aluminum or reinforced plastic may be used as the material, and holes 10 may be cut out in areas unnecessary for strength to reduce weight. This two-part rail is aligned with the pin holes of the fixed pin receivers 11 provided at both ends, and the pins 12 are inserted from above.
It can be assembled by simply inserting the Reference numerals 13 and 3 are a pusher support and a foot pusher for installing the first rail on the horizontal structure.

In FIG. 5, the foot presser 3 provided on the presser support 13 attached to several places on the first rail 2 is connected to the rear presser bolt 14.
By screwing in the structure 1 using the principle of a screw.
Press it against the surface. The first rail 2 has a diameter sufficiently larger than the diameter of the structure 1, and the entire rail is fixed by pressing the foot presser 3. Therefore, there is no need to pre-treat the irregularities and deposits on the surface of the structure 1. In addition, by making the tip of the foot pusher 3 uneven in the rack shape 3a, the frictional force is increased and the fixing force can be increased. Furthermore, the shape of this foot pusher 3,
By simply changing the dimensions, the diameter of the structure can be accommodated without any changes to the rail body. The number of foot presses 3 may be arbitrary, but it is preferable to provide 6 to 8 foot presses 3 evenly around the entire circumference. The operator can easily set the first rail 2 by simply supporting the first rail 2 near the target location and operating the pressing bolt 14. Note 3
This is the bolt for fixing the second rail, which will be described later. 6 to 8 show details of the second rail for running the welding cart. In FIG. 6, 4 indicates the second rail, and 17 indicates the rack. A holding mechanism 15 equipped with wheels 5 for supporting the second rail 4 and mounting it on the first rail 2 is provided on the left and right sides of the second rail 4. FIG. 7 shows details of this holding mechanism 15, which includes a vertical adjustment mechanism 29 for the second rail 4 and a balance adjustment mechanism 16 with respect to the surface of the structure. After installing and fixing the first rail 2 to the structure 1, the worker places the second rail 4 into the water,
The left and right wheels 5 of the rail 4 are mounted on the track on the upper part of the first rail 2 body, and the second rail 4 is slid to the required circumferential position. The wheels 5 may be provided at the upper and lower portions of the second rail right and left holding mechanism 15 so as to fit into the upper and lower portions of the first rail, but they may also be provided only at the upper portion by utilizing their own weight and may be of a hanger type.
Therefore, the fixing bolts 30 (see FIG. 5) attached to the first rail 2 are used to press the holding mechanisms 15 on the left and right sides of the second rail to fix the entire second rail. After that, first, the bolts 29 provided at the top of the holding mechanism 15 are adjusted so that the second rail 4 and the welding line are parallel to each other, and the vertical slide box 31 holding the second rail 4 inside the holding mechanism 15 is moved up and down. Adjust the parallelism with the weld line.

Next, the bolts 16 similarly provided in the holding mechanism 15 are used to adjust the circumferential parallelism between the second rail 4 and the surface of the structure. These are to supplement the rough setting of the first rail 2 to the structure, and due to these functions of the second rail 4, the first rail 2 only needs to be roughly set, and it can be set completely parallel to the weld line. There is no need to do so. Once the second rail 4 is set, the welding cart 7 is then mounted.

The running wheels 8 attached to the truck 7 are placed on the track of the head of the second rail, and the drive gear 20 of the truck is engaged with the rack 17 provided on the second rail 4, so that the truck 7 can be set. Of the running bogie parts in Fig. 6, 7 is the bogie body, 18 is the bogie drive motor 20, a gear that transmits the driving force to the rack 17 of the rail, and 21 is the clutch 22 that controls the disengagement of the rack gear. . Only the main body and drive motor are watertight. By operating the clutch 21, the rack gear is released and the cart 7 can be moved freely left and right by hand, and can be moved to any desired location such as the welding start area. Next, as shown in FIG. 8, the torch arm 23 is inserted into the torch arm holding head 22, and the welding torch 25 is set on the torch holding head 24 at the tip of the torch arm 23, and the welding preparation is almost completed.

If the second rail 4 is parallel to the welding line, the welding torch 25 can be accurately set at the welding line simply by moving the torch arm 23 up and down by adjusting the gear 31. The torch holding mechanism 24 is equipped with a mechanism for finely swinging the welding torch 25 up and down and for welding forward and backward, and is also equipped with a contact tracing device for contacting the surface of the structure. Further, numeral 27 in the figure is a power cable. When the welding line is set in this way, the operator presses the welding start button to automatically start welding, the welding cart 7 travels, and automatic welding can be performed. Note that here, the first
Rail 2, second rail 4, welding cart 7, torch arm 2
3. The method of setting each torch 25 separately was described, but this was done in consideration of the difficulty of retaining the weight underwater. Of course, it is also possible to set each torch 25 in advance on land by using buoyancy materials such as floats. , it is also possible to put it into water.

The setting order of the first rail 2 and the second rail 4 will be described again with reference to FIG. 9 (side view) and FIG. 10 (plan view) as follows.

At step i, the first rail 2 is set on the structure 1, and the first rail 2 is fixed with an appropriate number of leg pressers 3, 3 around the entire circumference.

In step ii, the second rail is mounted on the first rail 2, and is slid and fixed at the location where welding is required.

In the front, first, as shown in the side view of FIG. 9, the adjustment bolts 29,
29 to adjust the second rail 4 parallel to the welding line 9 by raising and lowering the upper and lower slide boxes 31, 31.

Next, as shown in the plan view of FIG. 10, the left and right holding mechanisms 15
, 15 are used to adjust the distance a between the second rail and the surface of the structure 1 to be kept constant. FIG. 11 shows the order in which the second rail is moved and constructed around the entire circumference, and as an example, the second rail 4 is shown divided into 1/4 of the entire circumference. Note that even when using a 1/4 split rail, it is actually better to consider the overlapping margin at the start and end of welding and set the length of the second rail 4 of the bogie running section to be slightly longer than 2 r x 1/4. The illustrated operations are as follows. (i) First, move the second rail 4 to any one of the entire circumference.
4 places, for example, part AB in the figure, and weld (ii
) Once the AB section work is completed, move the second rail 4 to the next 1/4
Set it on the circumference BC part and weld it.

0ii) ~M In this way, the second rail 4 is sequentially vibrated every 1/4 circumference to complete the entire circumference.

[Brief explanation of the drawing]

FIG. 1 is a side perspective view of an embodiment in which the present invention is applied to an underwater welding device, FIG. 2 is a plan view thereof, FIGS. 3 to 5 are detailed schematic diagrams of the first rail of the same device, and FIG. Figures 8 to 8 are detailed outline diagrams of the second rail and welding cart of the same device, Figures 9 and 10 are illustrations of the setting order of the first rail and second rail, and Figure 11 is an explanation of the welding order. It is a diagram. DESCRIPTION OF SYMBOLS 1... Cylindrical structure, 2... First rail, 3... Leg presser, 4... Second rail, 7... Welding trolley, 15...
...Second rail holding mechanism, 24...Torch holding head. Grandson's map *2 figure Grandson's 8th figure Shigeko's figure Son's figure Nozomi et al.

Claims (1)

[Claims] 1. A plurality of members divided in the vertical direction are constructed so that they can be assembled by means of a connecting means leaving a considerable gap around the cylindrical structure to be worked, and are provided with at least a rail portion that contacts a common plane on the upper surface thereof. a circular first rail having a plurality of foot pressers that can be fixed to the outer peripheral surface of the structure while adjusting the distance to the cylindrical structure to be worked; The rails are movably engaged and mounted via provided holding mechanisms, and each holding mechanism can adjust the position relative to the first rail in the axial direction and the vertical direction, and can also be fixed to the first rail. a second rail that is part of an annular shape having a larger diameter than the first rail, and is movable onto the rail portion of the second rail; 1. An underwater working device for a cylindrical structure, comprising a working trolley having a working tool holding mechanism which is engaged with and placed on the work tool and whose height and axial position can be adjusted.