JPH08267292A - Equipment with single-sided welding backing function and X-ray film distribution function for nondestructive inspection - Google Patents

Abstract

(57) [Summary] [Purpose] Backing function at the first layer welding and X for the weld
Provided is a device having a function of delivering a film for X-rays, having a simple structure, capable of smoothly supplying a backing tape and the like, further capable of delivering an X-ray film in close contact with a wall surface, and capable of continuously delivering an X-ray film. [Structure] A self-propelled carriage equipped with a plurality of magnet-equipped traveling rollers and a drive means for the traveling rollers, capable of traveling while attracted to a traveling surface by the traveling rollers, and a tape body pressing device mounted on the self-propelled carriage. The tape body pressing device includes a storage reel for the tape body, a take-up reel for winding the tape body out of the storage reel by rotating the drive body for exclusive use, and a winding reel for winding the tape body between the storage reel and the take-up reel. And a pressing means capable of moving up and down for pressing the tape body against the traveling surface. The pressing means is provided with a backing pad and an X-ray film pressing pad which are exchangeable by detaching. I have.

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to the function of backing the welding from the outer surface of the pipe during the first layer welding from the inner surface of the pipe in the single-sided automatic welding of large diameter iron pipes and the like, and the nondestructive inspection of the welded portion after the welding. In the above, the present invention relates to an apparatus having a function of distributing an X-ray film to a predetermined position such as a large-diameter iron pipe.

[0002]

2. Description of the Related Art Conventionally, when a large-diameter iron pipe is laid in a tunnel, a scaffold is assembled between the tunnel and the outer surface of the pipe to carry out welding, inspection, and other work by an operator. In such a conventional method, it is necessary to excavate a large tunnel for assembling a scaffold between the ground and the outer surface of the pipe, which requires a lot of cost and construction period for the civil engineering work.
Under these circumstances, a single-sided automatic welding machine and an X-ray inspection device are being developed with the aim of saving labor, speeding up, and simplifying welding work and inspection after welding. The development of an automatic machine that performs the backing process required in the above and an automatic machine that distributes the film for X-ray inspection to the tube surface is underway.

[0003]

However, the conventionally known apparatus is a dedicated machine having a single function such as backing at the time of welding the first layer and distribution of the X-ray film. No device is known that has both a backing function during welding and a X-ray film distribution function. Further, the conventionally known automatic backing device and X-ray film distribution device have the following problems.

First, as an automatic backing device for backing the first layer, there is known a device shown in Japanese Patent Laid-Open No. 5-318184. This device has a rail for moving the device installed on the outer surface of a large-diameter iron pipe in advance, and runs along this rail in synchronization with the welding machine. The backing tape is sent out at the same speed as the running speed of the apparatus by connecting and interlocking with the feed roller of the backing tape via a joint.

However, in this method, it is necessary to install a rail for traveling the apparatus on the outer surface of the pipe for each pipe to be welded, which leads to an increase in cost and construction period. Further, depending on the material of the pipe body, cracks may occur in the pipe due to welding at the time of rail mounting. Therefore, for example, in the case of a pipe body made of high-tensile steel 70 or more, preheating of the pipe body during rail welding may occur. There is also the problem that extra work will increase, such as being necessary.
Further, since this conventional device has a structure in which a traveling system motor and a tape feed roller are connected through a gear and a universal joint for feeding the backing tape, there is a drawback that the structure is very complicated. Then, when slippage occurs between the traveling roller and the rail, the backing tape also slips between the pipe surface and the backing tape, which causes a problem that good welding cannot be performed.

Further, a permanent magnet is used as an apparatus used when inspecting a welded portion by X-ray flaw detection or ultrasonic flaw detection (for example, an apparatus for pasting an X-ray film on the wall surface of a pipe or performing an exploration). There is known a trackless magnetic attraction traveling device that travels in the circumferential direction on the outer surface of a tubular body while being attracted to the wall surface of the tubular body by an equipped roller. However, in reality, with a structure in which the magnets are simply attached to the traveling rollers, it is difficult to always properly adsorb each traveling roller to the tube surface, which is a three-dimensional curved surface, and the adsorption by the magnets is insufficient during traveling. There is a problem that the inspection car falls from the pipe surface.

Although it is possible to apply such a magnetic attraction type traveling device to a backing device, it is necessary to move the backing device precisely in synchronization with the automatic welding machine on the inner surface of the pipe. Since it is necessary to steer to correct the trajectory according to the misalignment of the pipe, if the trackless magnetic adsorption type traveling system is simply adopted, accurate synchronization with the automatic welding machine may not be possible, or If the backing tape cannot be properly supplied and held right under the torch of the welding machine, a trouble of getting out of the welding line will occur. Further, there is a problem that the welding arc is affected by the magnetic field of the magnet attached to the traveling roller, and normal welding cannot be performed.

Further, Japanese Laid-Open Patent Publication No. 62-66146 proposes a nondestructive inspection system using a self-propelled inspection vehicle equipped with multiple-type magnetized traveling rollers. With this system, the self-propelled inspection vehicle holds the X-ray film pack and moves to the X-ray imaging position while adsorbing it to the tube surface by the traveling roller with magnet, and irradiating the X-ray from the X-ray irradiator inside the tube. The film pack for X-ray held in the inspection car is exposed by X-ray imaging of the welded part. And such a 1
After the number of times of shooting is completed, the inspection vehicle is returned to the operator, the X-ray film pack is collected, a new X-ray film pack is attached to the inspection vehicle, and then moved to the next X-ray imaging position. Then, X-ray imaging is performed, and by repeating this, non-destructive inspection of the entire circumference of the tube is performed by X-ray imaging.

However, in this conventional apparatus, it is necessary to return the inspection vehicle to the operator in order to collect and replace the X-ray film every time X-ray imaging is performed, and the operation is complicated and time-consuming. There are drawbacks. Further, since the inspection vehicle carries out X-ray photography while holding the X-ray film pack, a gap is created between the X-ray film and the tube surface, which makes the image quality of the X-ray photograph taken clear. There is also the problem of chipping.

Therefore, the first object of the present invention is to adopt a non-track type magnetic adsorption type traveling system, which enables traveling on a traveling surface such as a pipe wall surface without installing rails and at the same time. Backing function for layer welding and X of weld
It also has the function of distributing X-ray film to the outer surface of the tube during radiography, and it does not require a special interlocking mechanism to synchronize the feeding of the tape body such as the backing tape with the running speed, and it also runs. Even if the rollers slip, there is no slip between the tape body and the driven surface,
Further, when the X-ray film is distributed, the X-ray film can be distributed in close contact with the wall surface of the tube at the X-ray photographing position, and the X-ray film can be collected after each X-ray photographing. Another object of the present invention is to provide an apparatus capable of performing efficient X-ray imaging without the need for replacement.

Another object of the present invention is to solve the following problems. To provide a device that can be stably attracted to a traveling surface such as a pipe wall surface with a traveling roller with a magnet and can always travel stably on the traveling surface. To provide a device that can move accurately in synchronization and that can easily perform steering for trajectory correction according to pipe misalignment etc.The magnetic field of the magnet attached to the traveling roller is the welding arc when backing Provide a device that can prevent the traveling roller with a magnet from falling to the ground even if the traveling roller with a magnet is not sufficiently attracted to the traveling surface and falls off the traveling surface. What to do

[0012]

In order to achieve the above object, the present invention has the following constitution. (1) A self-propelled carriage equipped with a plurality of magnet-equipped traveling rollers and a driving means for the magnet-equipped traveling rollers, which is capable of traveling while adsorbed to a traveling surface such as a pipe wall surface by the magnet-equipped traveling rollers, and mounted on the self-propelled carriage. The tape body pressing device has a tape body storage reel and a drive means for rotation of the tape body. The rotation of the tape body pushes out the tape body from the storage reel and winds the tape body. It comprises a take-up reel, and a pressing means capable of moving up and down for pressing the tape body against the traveling surface between the storage reel and the take-up reel, the pressing means being mutually replaceable by detaching. Pad and X
An apparatus having a single-sided welding backing function and an X-ray film distribution function for nondestructive inspection, which is provided with a wire film pressing pad.

(2) In the device of (1) above, the self-propelled carriage is equipped with magnetized traveling rollers which are driven by at least four wheels in front, rear, left and right, and each traveling roller is configured to be swingable in the vehicle width direction, and An apparatus having a single-sided welding backing function and a film distribution function for X-rays for nondestructive inspection, in which at least a traveling roller at the front or rear of the bogie has a suspension mechanism. (3) In the device of (1) or (2) above, the self-propelled carriage includes traveling rollers with magnets that are driven by at least four wheels in front, rear, left, and right, and each traveling roller of the self-propelled carriage has an axial ring-shaped permanent magnet. Are concentrically incorporated, and the poles of the ring-shaped permanent magnets on the opposite sides of the left and right running rollers are the same pole. apparatus. (4) In the device of (1), (2) or (3) above, a TV camera is provided at the front and / or rear of the self-propelled carriage so that a marker on the welder side can be photographed through the gap in the groove. Equipment with single-sided welding backing function and X-ray film distribution function for nondestructive inspection.

(5) In the device of (1), (2), (3) or (4) above, photodetectors are provided at the front and rear positions of the backing pad on the pad surface of the backing tape. And a first position detection mechanism for detecting the relative position of the backing pad with the welding torch in the welding progress direction based on the received light output of the photodetector, and at each of the front and rear positions of the self-propelled carriage, A pair of light projecting means for projecting light on the surface to be traveled and a photodetector for receiving reflected light from the surface to be traveled are provided at appropriate intervals in the width direction of the carriage, and the photodetectors detect the light. Based on the illuminance of the reflected light or the received light output of the photodetector, the steering base line drawn on the driven surface and the driven surface outside the steering baseline can be distinguished to turn the backing pad with respect to the welding line or / and A second position detecting mechanism for detecting lateral displacement, the first position detecting mechanism, and A single-sided welding backing function and non-destructive having a control means for controlling the traveling speed and steering of the self-propelled carriage so that the backing pad is located directly under the welding torch based on the position detection information by the second position detection mechanism. Equipment with X-ray film distribution function for inspection.

(6) In the apparatus of (5) above, the photodetectors provided at the front and rear positions of the backing pad on the pad surface of the backing pad are arranged at appropriate intervals in the width direction of the backing pad. An apparatus having a one-sided welding backing function and an X-ray film distribution function for non-destructive inspection, which is composed of at least one pair of photodetectors arranged at a predetermined distance. (7) In the device of (5) or (6) above, for the single-sided welding backing function and nondestructive inspection, the light projecting means and the photodetector in the second position detecting mechanism are constituted by photoelectric switches. Equipment with X-ray film distribution function.

(8) The above (1), (2), (3), (4),
In the device of (5), (6) or (7), the pressing pad has a detection means capable of detecting a mark attached to the tape body on which the X-ray film is mounted. And a device having a film distribution function for X-rays for nondestructive inspection. (9) Above (1), (2), (3), (4), (5), (6), (7)
Alternatively, in the device of (8), the self-propelled carriage has a guide for inserting a rope wound in a ring shape around the outer circumference of a large diameter pipe, for one-sided welding backing function and nondestructive inspection. A device that has a film distribution function for X-rays.

(10) A self-propelled carriage equipped with a plurality of magnet-equipped traveling rollers and driving means therefor, capable of traveling while attracted to a traveling surface such as a pipe wall surface by the magnet-equipped traveling rollers, and the self-propelled carriage. A tape body pressing device mounted on the tape body pressing device, the tape body pressing device having a storage reel for the tape body and a drive means for rotation, and feeding the tape body from the storage reel by the rotation thereof. It comprises a take-up reel that winds this up, and a pressing means that can move up and down to press the tape body against the traveling surface between the storage reel and the take-up reel, and the pressing means includes a backing pad. ing,
Equipment with single-sided welding backing function and X-ray film distribution function for non-destructive inspection.

[0018]

In the apparatus according to any one of claims 1 to 9, when this is used as a backing device for initial layer welding, the backing tape is mounted on the tape body pressing device and the pressing means is A backing pad can be attached. On the other hand, when used as an X-ray film distribution device, a tape body having an X-ray film is attached to the tape body pressing device, and the pressing means is replaced with the X-ray film. The film pressing pad is attached. The self-propelled trolley can be self-propelled on the outer surface of the body to be welded (hereinafter, explained using a large-diameter iron pipe as an example) by a traveling roller with a magnet while adsorbing the surface of the body.

When used as a backing device for initial layer welding, the device supplies a backing tape for receiving weld metal to the outer surface of the pipe immediately below the welding torch in the first layer welding from the inner surface of the large diameter pipe. A backing tape is stored in a coil shape in a storage reel that constitutes the device, and the tip of the backing tape fed from this storage reel is wound around a take-up reel via the pad surface of the backing pad. . At the welding start position, the backing pad is lowered toward the pipe surface, and the backing pad presses the backing tape against the outer surface of the pipe at the welding start point. When welding is started, the self-propelled carriage moves on the pipe outer surface in the welding direction while adsorbing to the pipe wall surface by the traveling roller,
In synchronization with this, the take-up reel is rotated by the drive means for rotating the take-up reel, and the backing tape is fed out from the storage reel. The feeding speed of the backing tape from the storage reel is
By controlling the drive means for rotating the take-up reel, it is synchronized with the traveling speed of the self-propelled carriage.

The backing tape unwound from the storage reel is pressed against the back surface of the welded portion while sliding along the pad surface of the backing pad, and then sequentially wound on the winding reel. Since the backing tape receives a welding arc when pressed against the back surface of the weld, it burns and burns onto the tube surface, but a constant tension is applied between the take-up reel and the backing pad by the rotation of the take-up reel. Therefore, the backing tape burned on the tube surface is easily peeled off and wound up on the winding reel. Therefore, the winding of the backing tape is delayed and the tape does not slip on the pipe surface, and the feeding of the backing tape can be accurately synchronized with the traveling of the self-propelled carriage. Also, since the movement of the self-propelled carriage and the feeding of the backing tape are performed by independent driving means, even if the traveling roller of the self-propelled carriage slips on the traveling surface for some reason, the backing tape is not Irrespective of this, it is delivered to the back surface of the weld, and therefore does not interfere with welding.

When used as a distribution device for X-ray film, a tape body on which the X-ray film is mounted is stored in a coil shape in the storage reel at appropriate intervals in the longitudinal direction, and the tape reeled out from the storage reel. The tip of the body is wound on the take-up reel via the pad surface of the pressing pad. At the X-ray imaging start position, the pressing pad is lowered toward the tube surface, and the portion of the tape body on which the X-ray film is mounted is pressed against the tube surface by the pressing pad, and the X-ray film is brought into close contact with the tube surface. . After the X-ray photography, the pressing pad is raised, the tape body is wound on the take-up reel for a predetermined length, the self-propelled carriage is moved to the next X-ray photographing position, and the pressing pad is lowered again. X-ray image is taken by pressing the X-ray film against the tube surface. By repeating the above procedure, X-ray imaging of the entire circumference of the tube is performed.

In the apparatus according to the second aspect of the invention, the self-propelled carriage is equipped with traveling rollers with magnets for driving at least four wheels in front, rear, left and right, and each traveling roller is capable of swinging in the vehicle width direction. Since at least the traveling rollers at the front or rear of the bogie are equipped with the suspension mechanism, the traveling rollers of the four wheels, which are the drive rollers, are independent of the curvature and unevenness of the pipe wall, regardless of the pipe wall. They are always in contact with each other at a right angle, so that the magnets attached make sure to attract them to the wall surface of the pipe. Therefore, the self-propelled carriage can stably run on the pipe wall surface without a track.

During backing during the first layer welding, the self-propelled carriage travels in the welding direction on the outer circumference of the pipe so that the left and right traveling rollers with magnets straddle the groove portion. By the way, when a permanent magnet is attracted to a ferromagnetic material such as iron, the ferromagnetic material is magnetized by the permanent magnet. In welding, if the groove portion is magnetized, the direction of the welding arc may be affected by the magnetic field and normal welding may not be possible. In particular, in the case of a magnetic attraction type self-propelled carriage, it is necessary to incorporate a permanent magnet with a strong magnetic force (for example, 1 Tesla) into the roller in order to support its own weight, and such a strong permanent magnet was simply used. In some cases, the effect on the welding arc is unavoidable. Generally, in order to eliminate the influence on the welding arc, the magnetization of the groove is 50
It is necessary to suppress it to -60 gauss or less.

With respect to this point, in the apparatus according to the third aspect of the present invention, axial ring-shaped permanent magnets are concentrically incorporated in each of the traveling rollers, and the poles of the ring-shaped permanent magnets on the opposite sides of the left and right traveling rollers are arranged. Since the magnetic poles of the permanent magnets of the left and right running rollers that straddle the groove portion retreat from each other across the groove portion, the magnetic force lines of the permanent magnets of the left and right running rollers open. It is moved away from the tip, and as a result, the magnetization of the groove is suppressed to 50 to 60 gauss or less. Therefore, the permanent magnet has almost no effect on the welding arc.

In the apparatus according to the fourth aspect, the television camera provided on the carriage photographs the marker attached to the welding machine through the gap in the groove portion, and the operator observes it on the monitor, Adjusts and steers the self-propelled carriage. The above television camera can also be used to inspect the backside of the weld. When the apparatus according to the fifth aspect is used, a steering baseline is drawn along the groove portion on the outer peripheral surface of the large diameter pipe in the vicinity of the groove portion prior to the first layer welding. The device is set on the outer surface side of the large diameter pipe so that the center of the backing pad is located directly below the welding torch at the welding start position. When welding is started, the device starts traveling in the welding advancing direction in synchronization with the welding torch on the inner surface side of the pipe.

During this traveling, the photodetectors provided at the front and rear positions of the backing pad that constitutes the first position detecting mechanism cause the welding light transmitted through the backing tape or the red heat of the backing tape to pass through. The emitted light is received, and the relative position of the backing pad with respect to the welding torch in the welding proceeding direction is detected based on the received output of the photodetector. For example, when the welding torch is located in front of the front photodetector in the welding progress direction, the light reception output of the front photodetector is large, and the light reception output of the rear photodetector is small, while If the welding torch is located between the front and rear photodetectors,
The received light output of both photodetectors becomes large. Therefore, by comparing the received light output of each photodetector with a specific threshold value (threshold value that determines whether welding light or red light is received), or the received light output of the front and rear photodetectors It is possible to detect the relative position of the backing pad with respect to the welding torch in the welding advancing direction by making a direct comparison.

That is, in the method of comparing the received light output of each photodetector with the threshold value, for example, the received light output of the front and rear photodetectors is the presence or absence of the reception of welding light or red heat emission of the backing tape. Is compared with a threshold value for determining, and converted into a binary value of “with light reception” or “without light reception”. And
If the photodetector output of the front photodetector is "received" and the photodetector output of the rear photodetector is "no light", the welding torch is positioned in front of the photodetector of the front part. It is detected that there is. On the other hand, when the light receiving outputs of the front and rear photodetectors are both "received", the welding torch is located between the front and rear photodetectors.

On the other hand, in the method of directly comparing the light receiving outputs of the front and rear photodetectors, for example, the light receiving outputs of the front and rear photodetectors are compared to obtain a deviation thereof, and the deviation is specified. If the deviation is larger than the threshold, it is detected that the welding torch is ahead of the front photodetector, while the deviation is smaller than the threshold. If, the welding torch is located between the front and rear photodetectors. Further, as in the apparatus according to claim 7, by providing a pair of photodetectors at the front part and the rear part respectively, the backing pad is biased to the left or right with respect to the welding line or is turned. Even
Either of the left and right photodetectors can capture welding light and the like, and high detection accuracy can be obtained.

The positional deviation and turning of the backing pad in the left-right direction with respect to the welding line are detected by the second position detecting mechanism. A steering baseline is formed on the outer peripheral surface of the pipe near the groove using tape or paint whose light reflectance is sufficiently higher than that of the pipe, and the width of this steering baseline is equal to the width of the front part. Also, it is slightly narrower than the distance between the detection parts formed by each pair of photodetectors in the rear part. Visible light or infrared light is projected as signal light from the light projecting means to the tube surface side, and the light reflected by the tube surface side is received by the photodetector corresponding to each light projecting means.

Since the distance between the detection parts of the pair of left and right photodetectors is slightly wider than the width of the steering baseline, when the device is traveling without lateral displacement or turning with respect to the welding line, The pair of left and right photodetectors at the rear and rear portions receive light reflected from the tube surface outside the steering baseline. On the other hand, if the device is laterally displaced or turned with respect to the welding line, one of the photodetectors will receive the reflected light from the steering baseline. Since the illuminance of the reflected light from the tube surface outside the steering baseline is significantly different from the reflected light from the steering baseline, the steering baseline is based on the difference in the illuminance or the received light output of the photodetector. Can be distinguished from the outer pipe surface.

Therefore, for example, when one or both of the front left photodetector and the rear right photodetector detect the steering baseline, the second position detection mechanism and the device and the back side constituting the second position detection mechanism. Detects that the pad is turning to the right of the welding line. In addition, when both the front right photodetector and the rear right photodetector detect the steering baseline, it is detected that the device and the backing pad that composes the device are biased to the left with respect to the welding line. To do. Similarly, the detection of the steering baseline by one or more photodetectors detects the turning of the device and the backing pad forming the device to the left and the lateral displacement to the right.

The light projecting means and the photodetector constituting the second position detecting mechanism can be constituted by a reflection type photoelectric switch, and by using this photoelectric switch, the lateral displacement or turning as described above can be detected. The easiest way to do this. That is, since this photoelectric switch is turned on and off depending on the illuminance of the reflected light, it is turned on only when the light having a predetermined illuminance or more is received (that is, when the reflected light from the steering baseline is received). By using the photoelectric switch, the pipe surface and the steering baseline can be easily distinguished. Further, instead of such a photoelectric switch, it is also possible to discriminate between the steering baseline and the tube surface by comparing the received light output of each photodetector with a predetermined threshold value.

The above-mentioned first position detecting mechanism and second
The position detection mechanism sequentially detects the position, outputs the position detection information to the control means, and controls the traveling speed and steering of the self-propelled carriage such that the backing pad is located directly below the welding torch. The control means controls the traveling of the self-propelled carriage as follows based on the position detection information by the first position detection mechanism. That is, when it is detected that the welding torch is ahead of the front photodetector, the backing pad is slightly behind the welding torch, so the self-propelled carriage is driven. Advance the machine so that the backing pad is directly under the welding torch. Also,
When it is detected that the welding torch is located between the front and rear photodetectors, the traveling of the self-propelled carriage is temporarily stopped or decelerated.

As another control example, when it is detected that the welding torch is in front of the front photodetector, the traveling speed of the self-propelled carriage is increased, while the welding torch is moved forward. When it is detected that it is located between the rear and rear photodetectors, the self-propelled carriage is decelerated. Further, the control means, based on the position detection information by the second position detection mechanism,
Controlling the number of rotations of the left and right running rollers of the self-propelled carriage, or if the self-propelled carriage has a special steering mechanism, adjusting (steering) the traveling direction of the self-propelled carriage. Correct the lateral displacement of the backing pad with respect to the welding line and / or turn.

In the apparatus described in claim 8, a mark is attached in advance to a position corresponding to each X-ray film of the tape body on which the X-ray film is mounted, and the mark is attached to the tape body fed from the storage reel. The detected mark is detected by the detection means provided on the pressing pad, and the feeding of the tape body is stopped based on this detection so that the X-ray film can be positioned directly below the pressing pad.

In the device according to the ninth aspect, the rope wound in a ring shape around the outer circumference of the large diameter pipe is inserted into the guide of the self-propelled carriage, and the self-propelled carriage holds the rope by the guide. The rope travels in the circumferential direction on the outer surface, and the rope slides in the guide during the traveling. Therefore, in the unlikely event that the magnets on the traveling rollers become insufficiently attracted and the device falls off the pipe wall,
The device only slides along the rope to the underside of the large pipe and is held by the rope and does not fall to the ground.

[0037]

1 to 23 show an embodiment of the device of the present invention. FIG. 1 is a plan view of the entire device, FIG. 2 is a front view thereof, and FIG. 3 is a side view thereof. This device is provided with a self-propelled carriage 1 capable of traveling while being attracted to a pipe wall surface by a traveling roller with a magnet, and a tape body pressing device 2 mounted on the self-propelled carriage. The self-propelled carriage 1 has traveling rollers 5a ₁ , 5a ₂ , 5b ₁ and 5b ₂ which are drive wheels on the front, rear, left and right of the main body 100 of the carriage (main body frame of the carriage). The structure of the traveling roller of the self-propelled carriage 1 and its drive mechanism will be described later in detail.

The tape body pressing device 2 comprises a tape body a
Storage reel 3 for (backing tape a ₁ or tape body a _{2 with} X-ray film attached), take-up reel 4 for tape body a, and lifting / lowering for pressing tape body a against the tube surface between both reels The pressing means 6 includes a backing pad 7 (see FIGS. 7 to 9) and a pressing pad 8 for the X-ray film, which can be exchanged by detaching each other.
(See FIG. 10). The storage reel 3, the pressing means 6, and the take-up reel 4 are attached to the self-propelled carriage 1 in a state of being connected in series in the traveling direction of the carriage.

The storage reel 3 and the take-up reel 4 are rotatably supported by brackets 14 and 15 on the self-propelled carriage 1 by means of a shaft support 9,
In order to prevent the X-ray film wound in both reels from being exposed to X-rays when the apparatus is used to distribute the X-ray film, the entire protective cover 12, 1 is provided.
3, a slit (not shown) for passing the tape body a is formed in a part thereof. It is preferable that the protective covers 12 and 13 are made of a lead material or the like that does not transmit X-rays. The self-propelled carriage 1 is provided with a motor 11 which is a rotation driving means for the take-up reel 4, and the take-up reel 4 is rotationally driven by the motor 11 regardless of the drive system for traveling the carriage. Then, the tape body a is unwound from the storage reel 3 by the rotational drive of the take-up reel 4, and the tape body a is taken up by the rear take-up reel 4 via the pressing means 6.

4 to 6 show the details of the storage reel 3, in which the tape body between the reel and the pressing means 6 (the backing pad 7 or the pressing pad 8) is shown. In order to prevent slackening of a, braking means for suppressing its free rotation is attached. That is, in order to prevent the feeding trouble due to the looseness of the tape body a as described above, the tape body a is unwound from the storage reel 3 only when the tape body a is pulled from the take-up reel 4 side by the drive of the motor 11. Therefore, the braking means is provided so as to allow the rotation of the storage reel 3 only when an appropriate rotational force is applied to the storage reel 3 from the outside.

In this embodiment, as shown in FIG. 4, a disc brake 17 is provided on a support shaft 16 which supports the storage reel 3 axially. A brake shoe 20 is provided via a flange 19 at one end of a sleeve 18 fitted onto the end of the support shaft 16, and the sleeve 18 serves as a carrier body 10.
The brake shoe 20 is in contact with the side surface of the fixed plate 21 by being inserted into the insertion hole 22 of the fixed plate 21 provided upright. Further, a biasing coil spring 23 is installed on the other end of the sleeve 18 protruding from the insertion hole 22, and each end of the coil spring 23 is a flange portion 24 formed at the end of the sleeve 18. By being locked to the fixed plate 21, the sleeve 18 is biased in the direction opposite to the storage reel, the brake shoe 20 is pressed against the fixed plate 21 with an appropriate pressure, and an appropriate braking is applied to the rotation of the storage reel 3. Is added.

A locking mechanism 26 for locking the tape body a is provided on the body portion 25 of the storage reel 3 (see FIGS. 4 and 5). The locking mechanism 26 includes a stepped portion 27 formed in a notch shape in a part of the body portion 25 of the storage reel,
The sleeve 29 embedded in the step portion 27, the saw tooth portion 280 for locking the tape, and the locking member 28 arranged on the step portion 27, and one end thereof are connected to the locking member 28. , The other end side of the threaded shaft 3 inserted into the sleeve 29
0 and a tightening member 31 screwed onto the threaded portion of the threaded shaft 30 protruding from the sleeve 29.
8 of the tape body a is sandwiched between the sawtooth portion 280 and the step portion 27, and the fastening member 31 is fastened to the sleeve 29. The body a can be securely locked. The take-up reel 4 is also provided with a similar locking mechanism.

Further, the storage reel 3 has a structure shown in FIGS.
A remaining amount measuring mechanism 32 for the tape body a as shown in FIG. The remaining amount measuring mechanism 32 includes a potentiometer 33 fixed to the side of the protective cover 12, a rotary shaft 34 of the potentiometer 33 penetrating the protective cover 12 and extending inward thereof, and a rotary shaft 34 of the rotary meter 34. An arm 35 fixed to the tip of the shaft 34 and one end fixed to the tip of the arm 35,
The support shaft 3 whose other end extends toward the widthwise center of the storage reel 3
6 and a roller 3 rotatably supported by the support shaft 36.
7, and the end portions 391,
392 is a locking portion 38 fixed to the outside of the protective cover 12.
And a coil spring 39 for arm urging which is respectively locked to the sides of the arm 35. The coil spring 39 urges the arm 35 toward the trunk of the storage reel 3 to store the roller 37. Body 2 of reel 3
5 is pressed against the outer surface of the coil of the tape body a wound around 5, and the rotation angle of the arm 35 at this time is detected by the potentiometer 33 via the rotary shaft 34, so that the tape is wound around the storage reel 3 in a coil shape. The remaining amount of the tape body a can be detected.

The pressing means 6 includes a backing pad 7 (and a pressing pad 8 that can be replaced with the backing pad) for pressing the tape body a against the tube surface to back it, and the backing pad 7 in the tape body traveling direction. The guide rollers 40 and 41 for guiding the tape body a before and after (and the pressing pad 8 that can be replaced therewith), the backing pad 7 (and the pressing pad 8 that can be replaced therewith), and the guide rollers 40 and 41. The pressing device 6 is composed of a holding device 43 or the like that holds the frame 42 so that it can be moved up and down. The pressing means 6 is arranged on the self-propelled carriage 1 at an intermediate position between the storage reel 3 and the take-up reel 4. 7 to 10 show details of the pressing means 6, and FIG. 7 is a partial sectional front view showing a state in which a backing pad is attached,
Is a partial cross-sectional side view, FIG. 9 is a vertical cross-sectional view showing a guide roller and its holding mechanism, and FIG. 10 is a partial side view showing a state in which a pressing pad 8 is attached instead of the backing pad 7.

The holding device 43 has a pedestal 45 erected on a support plate 44 on the self-propelled carriage 1, and a slide plate 46 attached to a pair of legs 451 constituting the pedestal 45 so as to be vertically slidable. And each upper end is the slide plate 4
A pair of holding shafts 47 fixed to 6 and the slide plate 4
6, a fixing nut 48 fixed at the center, and an upper end side and a lower end thereof are rotatably supported by an upper portion of a pedestal 45 and a support plate 44, respectively, and a screw portion of the screw shaft 49 screwed to the fixing nut 48. And a motor 50 for raising and lowering which is held on the pedestal 45 for rotationally driving the screw shaft 49, and gears 51 and 52 for transmitting the driving force of the motor 50 to the screw shaft 49. A pair of holding shafts 47 is connected to the upper surface of the frame 42. In this holding device 43, when the screw shaft 49 is rotated by the motor 50, the fixed nut 48 moves up and down with respect to the screw shaft 49. Therefore, the fixed nut 48, the slide plate 46, and the holding shaft 47 are integrated together. A certain frame 42 also moves up and down with respect to the carriage main body 100.

A backing pad 7 is detachably held in the center of the lower portion of the frame 42, and guide rollers 40 and 41 are rotatably attached to both ends of the lower portion of the frame 42. The backing pad 7 (or the pressing pad 8) is detachably attached to the frame 42 via a coil spring 53 for biasing (and cushioning). FIG. 8 shows the details of the mounting structure. The frame 42 is provided with a guide cylinder 54 which is open at the upper and lower ends and has a large diameter portion 540 for accommodating a spring at the lower part thereof. A slide body 55 having a mounting portion 56 to which the backing pad 7 (or the pressing pad 8) is detachably connectable at the lower end is fitted inside the so as to be slidable in the longitudinal direction of the guide tube.

A flange 550 for locking the end of the coil spring is provided in the middle of the slide body 55. A coil spring 53, which is mounted on the slide body 55, is disposed inside the large diameter portion 540. One end of the coil spring 53 is a stepped portion at the end of the large diameter portion 540 and the other end is the flange 550. Are locked to each. Therefore, when the backing pad 7 (or the pressing pad 8) is pressed, the backing pad 7 (or the pressing pad 8) integrated with the slide body 55 is biased in the tube surface direction by the coil spring 53. It will be.
Further, a guide slit 541 having an appropriate length is formed at the upper end of the guide cylinder 54, while a protrusion 57 slidably engaged with the guide slit 541 is provided at the upper end of the slide body 55. The guide slit 541
Guide the protrusion 57 to the slide body 55.
Also, the backing pad 7 (or the pressing pad 8) integrated therewith is prevented from rotating with respect to the guide cylinder 54 and coming off from the guide cylinder 54.

The backing pad 7 has a connecting portion 58 at the center of its upper surface, and the connecting portion 58 is connected to the slide body 55.
Removably fitted to the mounting portion 56 at the end of the connecting pin 60
It is held by the frame 42 by being locked with. The backing pad 7 is made of a material having high thermal conductivity (usually made of copper) because its temperature rises during use. To cool such a pad, a passage 61 for circulating a refrigerant is provided inside. In addition to this, an inlet 62 for supplying a coolant such as cooling gas or cooling water is provided in this passage 61, and a hose or the like is connected to this inlet 62 so that the coolant can be supplied from the outside. Also, the pad surface 69 of the backing pad 7
A groove for guiding the backing tape a ₁ is formed in the.

The pressing pad 8 shown in FIG. 10 also has a connecting portion 59 in the central portion of the upper surface like the backing pad 7, and this connecting portion 59 is attached to the end portion of the slide body 55. It is retained on the frame 42 by being detachably fitted to 56 and locked by the connecting pin 60. Also,
The pad surface 70 of the pressing pad 8 is also formed with a groove for guiding the tape body a ₂ on which the X-ray film is mounted. The pressing pad 8 is also made of a lead material or the like that shields X-rays.

The guide rollers 40 and 41 are rotatably supported by the ends of the frame 42 at the front and rear positions of the backing pad 7 (or the pressing pad 8) in the tape body advancing direction, respectively. There is. FIG. 9 shows the mounting structure of these guide rollers by taking the guide roller 40 as an example. The guide roller 40 is a coil spring 6 for cushioning.
5 is pivotally supported. That is, a support member 66 for supporting the holding shaft 67 of the guide roller is attached to the frame 42 so as to be vertically slidable by a slide mechanism (not shown), and a buffer coil spring 65 is interposed between the support member 66 and the frame 42. I am letting you. The holding shaft 67 of the guide roller 40 is attached to the support member 66.
The roller body 400 is rotatably held by the holding shaft 67 via a bearing. Further, the guide roller 40 has flanges 401 at both ends thereof in order to prevent the tape body a from being displaced in the width direction. Such a structure is exactly the same for the guide roller 41.

Since the backing tape a ₁ receives a welding arc when it is pressed against the back surface of the welded portion, it burns out and causes seizure on the pipe surface. For such baking on the tube surface, since the backing tape a ₁ between the winding reel 4 and the pressing means 6 is applied with a constant tension by the rotation driving of the winding reel 4, the backing tape a ₁ is baked on the tube surface. The backing tape a ₁ can be easily peeled off, but in order to more reliably and quickly peel off such a baked tape, the backing tape a ₁ is pushed from the pressing portion by the pressing means 6. It is preferable that the tape is peeled off at an angle, that is, the backing tape a ₁ separated from the pressing means 6 is turned to a take-up reel side at a large angle.

The conditions for this will be described with reference to FIG. The imaginary tangent line x passing through the point (the outer peripheral portion of the guide roll 41 in this embodiment) at which the backing tape a ₁ separates from the backing tape a ₁ and the pressing surface of the pressing means 6 (the backing pad 7
It is preferable to increase the angle θ on the take-up reel side formed by the virtual straight line y parallel to the pad surface 69) of the pad surface 69) within a range that does not hinder the winding of the tape by the take-up reel 4. Specifically, it is preferable that the angle θ is about 45 to 90 °.

Next, the traveling roller of the self-propelled carriage 1 and its drive mechanism will be described. 12 and 13 show details of each traveling roller 5 (5a ₁ , 5a ₂ , 5b ₁ , 5b ₂ ) and its drive mechanism. Each traveling roller 5 includes a pair of roller bodies 71A, 71B and an axle 72. The roller main body of each roller body 71 (71A, 71B) is composed of a ring-shaped permanent magnet 73 and a steel ring-shaped roller member 74 sandwiching the permanent magnet 73 from both sides. Therefore, the ring-shaped permanent magnet 73 is concentrically incorporated into the traveling roller 5.

On the roller surface of each roller body 71 (71A, 71B), the permanent magnet 73 is depressed over the entire circumference,
The permanent magnet 73 does not come into direct contact with the tube surface.
This is to prevent the permanent magnet 73 from scratching the tube surface. Further, the surface of the roller member 74 constituting the roller surface is provided with a rubber lining for electrical insulation and slip prevention. As the rubber lining, for example, urethane rubber having a thickness of about 0.5 mm is used. Further, in order to increase the attraction force by the magnet and reduce the weight of the roller, the roller member 74 is provided on the roller surface side portion 740.
Is thick and the other portion 741 is thin.

[0055] Each driving roller 5, a bearing member 75a for supporting the axle 72, while being configured to be swingable carriage width direction via 75b, running rollers 5a ₁ of the bogie front, 5
a ₂ has a suspension mechanism 76. This will be described in detail below. First, the traveling roller 5a at the front of the bogie
₁ , 5a ₂ and traveling rollers 5b ₁ , 5b _{2 at the} rear of the bogie are rotatably supported by box-shaped bearing bodies 75a, 75b through axles 72 via bearings (not shown).

A pair of bearings 75a, which respectively support the traveling rollers 5a ₁ and 5a ₂ on the front of the bogie, are connected to the bogie body behind the bearings via connecting pins 77 (see FIG. 13). . The connecting pin 77 has one end pivotally attached 78 to the carriage main body 100 so as to be vertically rotatable.
The pin insertion hole 79 on the side of the bearing body 75a is externally inserted on the other end side so as to be rotatable in the circumferential direction of the pin, and a locking member 80 is provided at the end of the pin to prevent the bearing body 75a from moving toward the bogie body 100. Connected to. The extension of the axis of the connecting pin 77 intersects with the longitudinal center of the axle 72 of the traveling rollers 5a ₁ and 5a ₂ , so that the bearing body 75a is connected to the connecting pin 7a.
It is possible to swing in the vertical direction with the pivoting portion 78 of 7 as a fulcrum, and to swing in the width direction of the bogie with the longitudinal center of the axle 72 as a fulcrum.

On the other hand, a leg portion 83 of the traveling roller is erected on the upper part of each bearing 75a via a bracket 81 and a pin 82 so as to be swingable in the front-rear direction of the carriage. Is connected to the carriage main body 100 (see FIG. 12). The suspension mechanism 76
Is composed of a coil spring 84 interposed between the tip of the leg portion 83 and the trolley body 100 side. The upper portion and the lower portion of the coil spring 84 are provided on the trolley body 100 side so as to face the leg portion 83, and the shaft portion 8 is provided.
5 and the upper ends of the leg portions 83, respectively, and upper and lower end portions of the coil spring 84 are locked by flanges 86 and 87 provided at the base end of the shaft portion 85 and the intermediate portion of the leg portion 83, respectively.

The traveling rollers 5a ₁ and 5a ₂ can be moved up and down with respect to the carriage main body 100 by the suspension mechanism 76, and the bearing body 75a uses the pivot portion 78 and the pin 82 as a fulcrum in response to the vertical movement. Since it swings and does not hinder the vertical movement of the traveling roller, an appropriate suspension action can be obtained. Further, the leg portions 83 of the traveling rollers 5a ₁ and 5a ₂ are connected to the bogie main body 100 via a coil spring 84 constituting a suspension mechanism, and the bearing body 75a swings in the bogie width direction with the longitudinal center of the axle 72 as a fulcrum. Since the traveling rollers 5a ₁ and 5a ₂ can move, the coil springs 84 are deformed in the longitudinal direction so that the axles 7 can be moved.
It is possible to swing in the width direction of the carriage with the center of the longitudinal direction of 2 as a fulcrum.

On the other hand, the traveling rollers 5b ₁ and 5b _{2 at the} rear of the trolley
The pair of car receivers 75b that respectively support the front and rear parts thereof are supported by the members of the bogie main body 100 so as to be swingable in the bogie width direction via pins 88 and 89 (see FIG. 13). The extension lines of the axes of the pins 88 and 89 are the traveling rollers 5b ₁ and 5
It intersects with the longitudinal center of each axle 72 of b ₂ , and therefore the traveling rollers 5b ₁ and 5b ₂ can swing in the width direction of the bogie with the longitudinal center of each axle 72 as a fulcrum.

The front and rear wheels of the traveling rollers 5 are driven by one motor on each of the left and right sides of the self-propelled carriage 1, and a sprocket 90 for power transmission is attached to an axle 72 of each traveling roller 5. Installed (Fig. 1
3). The output shaft 910 of each of the left and right drive motors 91 _A and 91 _B includes a bevel gear 92, a gear 93, and a sprocket 9.
4, the chain 95, the sprockets 96 and 97, and the sprocket 90 are connected to the traveling rollers 5a ₁ and 5b ₁ and the traveling rollers 5a ₂ and 5b ₂ to drive the traveling rollers 5. Since the left and right drive motors are provided in this manner, the self-propelled carriage can be steered by providing a difference in the rotational speeds of the left and right traveling rollers 5a ₁ and 5b ₁ and 5a ₂ and 5b ₂ .

As the ring-shaped permanent magnet 73 applied to the roller bodies 71A and 71B, a radial type magnet magnetized in the radial direction of the ring as shown in FIG. 24 and a magnet magnetized in the axial direction of the ring as shown in FIG. However, in the present invention, the axial type in which the magnetic flux emitted from the N pole of one ring-shaped permanent magnet is converged to the S pole of the same ring-shaped permanent magnet through the large diameter iron pipe is used. further,
In the present invention, the poles of the ring-shaped permanent magnets 73 on the opposite sides of the left and right running rollers 5a ₁ and 5a ₂ are also set, and the ring-shaped permanent magnets on the opposite sides of the running rollers 5b ₁ and 5b ₂ are also set. The poles of the magnet 73 are configured to have the same pole.

FIG. 14 shows the traveling roller 5 constructed as described above.
The magnetic lines of force 98 when a ₁ and the traveling roller 5 a ₂ and the traveling roller 5 b ₁ and the traveling roller 5 b ₂ are attracted to the large-diameter pipe p are shown, and an axial ring-shaped permanent magnet 73 is concentric with each traveling roller 5. Right and left running rollers 5a
The poles of the ring-shaped permanent magnet 73 on the opposite sides of ₁ and the traveling roller 5a ₂ are the same, and the poles of the ring-shaped permanent magnet 73 on the opposite sides of the traveling roller 5b ₁ and the traveling roller 5b ₂ are the same. Since the poles are configured so as to have a pole, the magnetic field lines 98 of the permanent magnets 6 of the left and right traveling rollers 5 straddling the groove portion 99 retreat from each other with the groove portion 99 interposed therebetween, and the permanent magnets of the left and right traveling rollers 5 are formed. The magnetic lines of force of the magnet 73 are moved away from the groove 99, whereby the permanent magnet 7
The magnetization of the groove portion 99 due to 3 is suppressed to a very low level. Therefore, it has almost no effect on the welding arc.

Next, a position detecting mechanism when the device of the present invention is used as a backing device will be described. The apparatus includes a first position detection mechanism that detects the position of the backing pad 7 in the welding proceeding direction and a second position detection mechanism that detects the position of the backing pad 7 in the left-right direction with respect to the welding line. . The first position detecting mechanism detects a position using a photodetector (photoelectric light receiving element) provided on the pad surface 69 of the backing pad 7. FIG. 15 shows the backing pad 7 and its holding structure. FIG. 15A is a side view and FIG. 15B is a drawing showing a pad surface 69 of the backing pad 7.

A pair of photoelectric light receiving elements 10 are provided at appropriate positions in the width direction of the backing pad at the front and rear positions of the pad surface 69 of the backing pad 7 in the backing tape feeding direction.
1a ₁ and 101a ₂ and photoelectric receiving elements 101b ₁ and 101b ₂
Is embedded. The photoelectric light receiving element 101 is an element such as a photodiode, a phototransistor, or a CdS element that outputs an electric signal according to the amount of received light. Each photoelectric light receiving element 101 is inserted into the mounting hole formed in the pad surface 69, and is embedded in the pad surface 69 by sealing the upper surface of the mounting hole with a transparent sealing material such as heat-resistant glass. . Since the photoelectric light receiving element 101 is inserted into the mounting hole and the sealing material seals the mounting hole flush with the pad surface, the pad surface 69 does not have a step due to the mounting hole or the like. The patch tape a ₁ can smoothly slide on the pad surface 69.

In this embodiment, the photoelectric light receiving element 101
Are arranged in pairs at the front and rear of the backing pad 7, but, for example, a plurality of pairs of photoelectric light receiving elements 101 may be arranged at the front and rear, respectively. Even if the photoelectric light receiving element is damaged, it can be appropriately dealt with.

The number of photoelectric receiving elements 101 at each of the front and rear portions of the backing pad 7 is arbitrary, and therefore one photoelectric receiving element 101 can be provided at each of the front and rear portions. Is. However, in this case, if the backing pad 7 is biased in the left-right direction with respect to the welding line due to lateral displacement or turning of the apparatus, there is a possibility that the photoelectric light-receiving element 101 cannot properly detect welding light or the like. Therefore, in this embodiment, a pair of photoelectric receiving elements 101a ₁ and 1a 1 in the width direction of the backing pad are provided at the front and rear positions.
By arranging 01a ₂ and 101b ₁ and 101b ₂ , it is possible to appropriately capture the welding light and the like even when the backing pad 7 is biased in the left-right direction with respect to the welding line.

Further, in this embodiment, since it is premised that the light receiving outputs of the pair of left and right photoelectric light receiving elements 101 are added and used for position detection, the left and right photoelectric light receiving elements 101a.
₁ , 101a ₂ and 101b ₁ and 101b ₂ can be sufficiently separated from the center of the backing pad 7, so that the backing bead is not adversely affected, and even if the backing tape a ₁ is burned out by the welding arc. Each photoelectric light-receiving element 101 does not directly receive an arc, and damage to each photoelectric light-receiving element 101 is appropriately prevented. In addition, the photoelectric light receiving elements 101 at the front and rear positions of the backing pad 7 are left and right respectively.
It is also possible to provide more than one.

FIG. 17 is a block diagram of a detection system which constitutes the first position detecting mechanism, and 102a and 102b are a pair of front and rear photoelectric receiving elements 101a ₁ and 101a _{2 respectively.}
And 101b ₁ and 101b ₂ adders for adding the received light outputs, 103a and 103b are filters, 104a and 1
Reference numeral 04b is a comparator for comparing the threshold value set by the setters 105a and 105b with the added light reception output and outputting "with light reception" or "without light reception". It is a discriminating circuit that detects the relative position of the backing pad 7 with respect to the welding torch b in the welding proceeding direction based on the output.

The second position detecting mechanism includes a light projecting means and a photodetector (photoelectric receiving element) arranged at each of the front and rear positions of the self-propelled carriage 1 and the steering base drawn on the outer surface of the tube. The position is detected using the line and. In this embodiment, the light projecting means and the photodetector are composed of a reflective photoelectric switch 107. As shown in FIGS. 1 and 16, a pair of photoelectric switches 107 are provided at appropriate positions in the vehicle width direction at front and rear positions on one side of the self-propelled carriage 1.
a ₁ , 107a ₂ and 107b ₁ , 107b ₂ are provided via mounting stays 108a, 108b. These photoelectric switches 107 are reflection type photoelectric switches whose light projecting means projects signal light such as visible light or infrared light to the tube surface side and receives and detects the light reflected on the tube surface side.

A steering base line B is formed on the outer peripheral surface of the tube near the groove portion by using a tape or paint having a light reflectance sufficiently higher than that of the tube surface, and in the front and rear portions. Each pair of photoelectric switches 107a ₁ and 107
The distance between the detectors formed by a ₂ and the photoelectric switches 107b ₁ and 107b ₂ is set to be slightly larger than the width of the steering base line B. The output of each photoelectric switch 107 is turned on / off depending on the illuminance of reflected light.
ON only when light with a predetermined illuminance or higher is received (that is, light reflected from the steering baseline B is received)
Is used. FIG. 18 shows the second
Is a block diagram of a detection system constituting the position detection mechanism of
109 is a photoelectric switch 107a ₁ , 107a ₂ , 107b
A discriminating circuit for detecting the lateral displacement or / and turning of the backing pad 10 based on the outputs from ₁ and 107b ₂ .

Next, the mark detecting means attached to the pressing pad 8 will be described. 19A and 19B show the pressing pad 8 and its holding structure. FIG. 19A is a side view and FIG. 19B is a drawing showing a pad surface 70 of the pressing pad 8. A sensor 110 (for example, a transmissive sensor) for detecting a mark attached to the tape body a ₂ is embedded in the pad surface 70 of the pressing pad 8. Tape body a ₂
The X-ray film 131 is spaced at appropriate intervals in the longitudinal direction.
Is attached, and a mark 130 (for example, a plurality of holes, laser markers, inkjets, etc.) is provided at a position corresponding to each X-ray film 131, and the sensor 110 detects the mark 130, The feeding of the tape body a ₂ can be stopped based on the detection.

In each of the two locations on both sides of the trolley body 100,
Guide 1 for inserting the rope wound around the large diameter pipe p
11 is provided (see FIGS. 1 to 3). FIG.
2, FIG. 20 and FIG. 21 show the details of each guide 111. Each guide 111 is a guide main body 112 fixed to a side portion of the carriage main body 100, and the guide main body 112 is rotated by a pin 113. Rotating member 1 attached so that it is possible
14 and. The guide body 112 and the rotating member 114 have semi-circular cutouts 116a and 116b that should form part of the guide holes, respectively. The rotating member 114 is rotated toward the guide body 112 side. At this time, the guide hole 115 is formed by the notches 116a and 116b. Further, the member 117 of a portion (a portion where the cutout portion 116a is formed) which constitutes a part of the guide hole of the guide body 112 is made of an electrically insulating lubricant (for example, ultra-high molecular weight polyethylene), and the wire rope The w ₁ and w ₂ are allowed to slide smoothly in the guide hole 115, and are insulated so that the current on the device side does not flow to the large diameter pipe side.

A lock lever 118 for locking the rotating member 114 is attached to the guide body 112 by the pin 1.
19 is rotatably attached, and the locking step portion 120 of the lock lever 118 engages with the upper end of the rotating member 114 to lock the rotating member 114 rotated to the guide body 112 side. I can do it. A biasing coil spring 121 for holding the lock lever 118 in a locked state is provided between the lock lever 118 and a side portion of the carriage main body 100. Therefore, after the wire rope w ₁ (or w ₂ ) is positioned in the notch 116a with the rotating member 114 rotated in the direction opposite to the guide body, the rotating member 114 is rotated in the guide body direction. The wire rope w ₁ (or w ₂ ) can be inserted into the guide hole 115 by moving the wire rope w ₁ (or w ₂ ) by locking the rotary member 114 with the lock lever 118.

At the front and rear of the self-propelled carriage 1, an industrial TV camera 122 is provided for photographing the wall surface of the moving pipe.
A to 122C and illumination devices 123A to 123C associated with these television cameras are provided via mounting frames 124 extending to the front and rear of the carriage main body 100 (see FIGS. 1 to 3). In addition, this TV camera 12
2A to 122C can be suitably used for detecting the position of the self-propelled carriage and the backside inspection of the welded portion as described later, and particularly when used for the former, a marker attached to the welder inside the pipe is used. It is installed at a position where you can shoot through the gap in the groove. Further, as shown in FIGS. 22 and 23, an inclinometer 125 including a potentiometer 129 (or an encoder) fixed via a support frame and a pendulum 126 attached to a rotation shaft 127 thereof is provided on the carriage main body 100. The inclinometer 125 is provided so that the position of the device in the pipe circumferential direction can be detected.

Further, in the figure, reference numeral 128 is the trolley body 100.
The control device provided above controls the self-propelled carriage 1 and the tape body pressing device 2 by remote control via the control device 128, and the industrial television camera 122A.
The images from 122C and the output from the inclinometer 125 are also sent to the operation panel where the operator is via the control device 128.

26 to 28 show another embodiment of the present invention. FIG. 26 is a plan view of the entire apparatus, and FIG.
Is a front view, and FIG. 28 is a side view. In this device, the pressing means 6 has only a backing pad 7,
23 to 23, the structure is the same as that of the device shown in FIGS. 1 to 23 except that it does not have a pressing pad as shown in the embodiment of FIGS. The description is omitted. It should be noted that when this device is used as an X-ray film distribution device, the device itself is an X-ray.
Since it is possible to retract the wire to a position where it is not exposed to radiation, it is not necessary to form the protective covers 12 and 13 and the pressing pad 8 with an X-ray shielding material such as a lead material. , 13 may not be provided.

Next, the usage of the device A of the embodiment shown in FIGS. 1 to 23 will be described. 29 and 30 show the device A
Shows the state of implementation when using as a backing device when performing the initial layer welding of the large diameter pipe p. In this case, the backing pad 7 is attached to the pressing means 6, and the large diameter pipe is also shown. A steering baseline B is drawn along the groove 99 on the outer peripheral surface of the pipe near the groove of p. In the device A, the traveling roller 5 of the self-propelled carriage 1 is located at the groove 99 at the welding start position of the large diameter pipe p.
The backing pad 7 is set so that the center of the backing pad 7 is located directly below the welding torch b at the welding start position. In the apparatus A set in this way, each traveling roller 5 is attracted to the tube surface by the permanent magnet 73, and holds the self-propelled carriage 1 on the tube surface. Further, in this state, the backing tape a ₁ is stored in the storage reel 3 in a coil shape, and the tip of the backing tape a ₁ delivered from the storage reel 3 has a guide roller 40, a backing pad 7 and a guide roller. 41
It is wound on the take-up reel 4 via the backing pad 7, and the backing pad 7 presses the backing tape a ₁ against the outer surface of the pipe at the welding start point by the holding device 43 and the coil spring 53 for biasing. There is.

When welding is started, the self-propelled carriage 1 moves in the welding direction on the outer surface of the tube while adsorbing the traveling roller 5 with a magnet onto the tube surface, and in synchronization with this, the take-up reel 4 causes the motor 11 to move.
Then, the backing tape a ₁ is fed from the storage reel 3. The feeding speed of the backing tape a ₁ from the storage reel 3 is synchronized with the traveling speed of the self-propelled carriage 1 by controlling the motor 11. On the other hand, the backing tape a ₁ delivered from the storage reel 3 is smoothly guided to the pad surface 69 of the backing pad 7 without coming into contact with the corners of the backing pad 7 by being guided by the guide roller 40. It is guided and pressed against the back surface of the welded portion while sliding along the pad surface 69 of the backing pad 7. Next, the backing tape a ₁ is separated from the pad surface 69 and guided in the take-up reel direction via the guide roller 41. At this time, the backing tape a ₁ is guided by the guide roller 41 to reach the corner portion of the backing pad 7 or the like. Without contacting, the direction is smoothly changed and guided to the direction of the take-up reel 4 and sequentially taken up by the take-up reel 4.

Since the backing tape a ₁ receives the welding arc pressed against the back surface of the welded portion, the backing tape a ₁ burns out and causes the seizure on the pipe surface.
Since a constant tension is applied between the backing pad 7 and
The backing tape a ₁ burned on the tube surface is easily peeled off and wound on the winding reel 4. Also, the virtual tangent line x
When the angle θ formed by and the virtual straight line y is limited to 40 to 90 °, the backing tape a ₁ is peeled off from the tube surface at a large angle, so that the seized tape can be more reliably and quickly. Can be peeled off. Therefore,
Without the tape slipping relative to the tube surface the winding of the backing tape a ₁ is delayed, self feeding of the backing tape a ₁ bogie 1
Can be accurately synchronized with the running of.

The movement of the self-propelled carriage 1 and the backing tape a
_{Since the} winding reels 4 for feeding ₁ are rotated by independent driving means, even if the self-propelled carriage 1 slips on the traveling surface for some reason, the backing tape a ₁ It will be delivered to the backside of the weld regardless. Further, due to the action of the disc brake 17 which is a rotation braking means attached to the storage reel 3, the backing tape a ₁ is pulled only from the take-up reel side.
Since it is paid out from the storage reel 3 and the backing pad 7
The slack of the backing tape a ₁ is prevented during the interval, and the trouble of feeding the backing tape a is prevented.

In this welding, as described above, the groove 9
Since the magnetic lines of force of the left and right traveling rollers 5a ₁ and 5a ₂ that cross over 9 and the permanent magnets 73 of the traveling rollers 5b ₁ and 5b ₂ retreat from each other across the groove 99, the left and right traveling rollers The magnetic lines of force of the permanent magnet 73 are kept away from the groove 99, whereby the magnetization of the groove 99 is suppressed to a very low level by the permanent magnet 73, and the permanent magnet 73 does not adversely affect welding.

The traveling control of the self-propelled carriage 1 is performed as follows. During traveling of the self-propelled carriage 1, the photoelectric light receiving elements 101a ₁ , 101a ₂ and 1 which constitute the first position detecting mechanism.
01b ₁ and 101b ₂ receive the welding light transmitted through the backing tape a ₁ or the red heat emission of the backing tape, and based on the light reception output of the photoelectric light receiving element 101, the backing pad 7
The relative position with respect to the welding torch b in the welding advancing direction is detected. This will be described with reference to FIG. 17. The received light outputs of the photoelectric receiving elements 101a ₁ and 101a _{2 in} the front are the adder 1
02a, and the photoelectric receiving elements 101b ₁ and 10 on the rear side.
The light receiving outputs of 1b ₂ are added by the adder 102b. The respective addition signals are filters 103a and 103b.
Is input to the comparators 104a and 104b through the comparator, is compared with a preset threshold value by the setters 105a and 105b, and is converted into a binary value of “with light reception” and “without light reception” and input into the determination circuit 106. To be done.

In the judging circuit 106, the output from the comparator 104a (front photoelectric receiving elements 101a ₁ and 101a ₂ ) is “reception of light”, and the comparator 104b (rear photoelectric receiving element 1).
01b ₁ , 101b ₂ ) indicates “no light received”, the welding torch b is located at the front of the photoelectric light receiving element 101a ₁ ,
It is determined that the vehicle is located in front of 101a _{2, and} a command signal for driving the self-propelled carriage 1 is issued to the control device 128. On the other hand, the comparator 104a (the photoelectric receiving element 1 in the front part)
01a ₁ , 101a ₂ ) and the output from the comparator 104b (rear photoelectric receiving elements 101b ₁ , 101b ₂ ) are both “with light reception”, the welding torch b is the photoelectric receiving element 101a at the front. , 101a ₂ and the photoelectric detectors 101b ₁ and 101b ₂ on the rear side are discriminated, and a command signal for stopping the traveling of the self-propelled carriage 1 is issued to the control device 128.

Further, as in this embodiment, a pair of photoelectric receiving elements 101 are provided on the front and rear portions of the backing pad 7, respectively.
By providing a ₁ , 101a ₂ and 101b ₁ , 101b ₂ , even if the backing pad 7 is biased to the left or right with respect to the welding line or is turned, the photoelectric light receiving element 101 Can capture welding light and the like, and high detection accuracy can be obtained. The position detection by the first position detection mechanism is not limited to the present embodiment, and for example, the front and rear photoelectric receiving elements 101a ₁ ,
FIG. 1 shows the received light output of 101a ₂ and 101b ₁ , 101b ₂ .
After adding in the same manner as in 7, the added light receiving outputs are compared by a comparator to obtain the deviation, and this deviation is compared with a specific threshold value. For example, if the deviation is larger than the threshold value, In some cases, it detects that the welding torch is in front of the front photoelectric detector, and if the deviation is smaller than the threshold value, the welding torch is located between the front and rear photoelectric detectors. It can also detect that it is located.

Further, the photoelectric switches 107a ₁ , 107a ₂ , 107b ₁ and 107b ₂ which constitute the second position detecting mechanism.
Emits visible light or infrared rays from the light projecting means as signal light to the tube surface side and receives the light reflected on the tube surface side. The photoelectric switch 107 is turned on / off depending on the illuminance of reflected light,
It is turned ON only when the reflected light from the steering baseline B having a large illuminance is received. As shown in FIG. 18, the output of each photoelectric switch 107 is input to the determination circuit 109. In this determination circuit 109, for example, one or both of the front left photoelectric switch 107a ₁ and the rear right photoelectric switch 107b ₂ are input. When the backing pad 7 is output, it is detected that the backing pad 7 has turned to the right. Further, when there are outputs from both the front right photoelectric switch 107a ₂ and the rear right photoelectric switch 107b ₂ , it is detected that the backing pad 7 is biased to the left side with respect to the welding line. Similarly, turning of the backing pad 7 to the left and lateral displacement to the right of the welding line are detected.

In response to these detections, the determination circuit 109 outputs to the control device 128 a command signal for steering the self-propelled carriage 1, specifically, a command signal for controlling the rotational speeds of the left and right traveling rollers 5. . On the other hand, when there is no output from all photoelectric switches, the backing pad 7 is in the normal position and posture without lateral displacement or turning. The control device 128 is a drive device (motor) for the self-propelled carriage 1 based on the command signals from the first and second position detection mechanisms.
Is controlled, and the number of rotations of the left and right traveling rollers 5 is adjusted.

For tracking the apparatus A to the welding machine, for example, markers attached before and after the welding machine are used from the gap of the groove 99 without using the first position detecting mechanism as described above. It can also be performed by photographing with 122A to 122C and observing this with a monitor. Also, for the attitude control of the device A, for example, the television camera 1 without using the second position detecting mechanism as described above.
22A to 122C, the front and rear groove lines and back waves of the device A are photographed, and the self-propelled carriage is steered so that the groove lines and back waves are always located at the center of the monitor.

The self-propelled carriage 1 is equipped with four-wheel-drive magnet-equipped traveling rollers 5a ₁ , 5a ₂ , 5b ₁ , 5b ₂ , and each traveling roller 5 can be swung in the width direction of the carriage, Since the front running rollers 5a ₁ and 5a ₂ are provided with the suspension mechanism 76, each running roller 5 can always contact the tube surface, which is a three-dimensional curved surface, at a right angle. Is reliably adsorbed on the pipe wall surface, and the self-propelled carriage 1 travels stably on the pipe surface.

Even if the traveling roller 5 with a magnet is not sufficiently attracted and the device falls off the pipe wall surface, the self-propelled carriage 1 is large as shown in FIG. The rope wound around the diameter pipe p runs as a guide. That is, the two wire ropes w ₁ and w ₂ are slightly loosened on the outer circumference of the large-diameter pipe p with the butt-welding portion x sandwiched between them (when the device is below the large-diameter pipe p, the wire ropes w ₁ and w ₂ It is wound so that the device does not touch the ground even if it hangs). Each of the wire ropes w ₁ and w ₂ has a ring-like rope that surrounds the large-diameter pipe p, with both ends proliferating with clips or the like. The ends of the wire ropes w ₁ and w ₂ may be connected and fixed to the large diameter pipe.

Each guide 11 provided on the carriage main body 100
The wire ropes w ₁ and w ₂ are passed through the guide hole 115 of No. 1 and the self-propelled carriage 1 is run in the pipe circumferential direction in this state. During this traveling, the wire ropes w ₁ and w ₂ slide in the guide hole 115. Therefore, even if the traveling roller 5 is not sufficiently attracted to the pipe wall surface during traveling and the device falls off the pipe wall surface, the device slides down along the wire ropes w ₁ and w ₂ to the lower side of the large diameter pipe p. It does not fall on the ground because it is held only by the wire ropes w ₁ and w ₂ .

Next, when the apparatus A is used as an X-ray film distribution apparatus when X-raying a welded portion, a pressing pad 8 is attached to the pressing means 6 instead of the backing pad 7. Further, the tape body a ₂ on which the X-ray film is mounted is stored in the storage reel 3 in a coil shape, and the tip end of the tape body a ₂ delivered from the storage reel 3 is pressed against the guide roller 40 and the pressing roller. It is wound around the take-up reel 4 via the pad 8 and the guide roller 41.

[0092] Figure 31 is a plan view of the tape body a _2, the tape body a ₂ pocket portion 132 is provided at appropriate intervals in the longitudinal direction, the X-ray film 131 in the respective pocket portions 132 It is stored. The distance between adjacent X-ray films 131 is set to an arbitrary X-ray film 13
No. 1 has an interval such that adjacent X-ray films are not exposed to X-rays when X-ray photography is performed.

The self-propelled carriage 1 is made to travel along the butt weld x while adsorbing the self-propelled carriage 1 to the wall surface of the pipe by the magnet-equipped traveling roller 5, and the X-ray photographing position (the position where the X-ray irradiator is located inside the pipe).
Move up to At this time, the industrial TV camera 122A
The front and rear pipe surfaces of the self-propelled carriage 1 are photographed by ~ 122C,
The operator who operates the operation panel controls the attitude of the self-propelled carriage 1 in accordance with the welding portion x while watching the image of the TV camera. In addition, the device A
It is possible to know the current position in the circumferential direction of the tube, so that the apparatus A can be accurately moved to the X-ray imaging position. Also, with the digital switch provided on the operation panel,
If the angle corresponding to the X-ray imaging position is preset and the self-propelled carriage 1 is caused to travel until the difference between this set angle and the data output from the inclinometer 125 becomes 0 °, the apparatus A Automatic positioning can be performed.

With the movement of the apparatus A to the X-ray photographing position, the tape body a ₂ is placed so that the X-ray film 131 mounted on the tape body a ₂ comes to the position of the pad surface 70 of the pressing pad 8. To pay off. That is, the tape body a ₂ is taken up by the take-up reel 4 and stored in the storage reel 3
The sensor 110 provided on the pad surface 70 of the pressing pad 8 is pulled out from the
The feeding (winding) of the tape body a ₂ is stopped at the time point when the tape is detected. As a result, the X-ray film 13 of the tape body a ₂
1 is located directly below the pad surface 70 of the pressing pad 8.

At the X-ray photographing position, the pressing pad 8 is lowered by the holding device 43 and the pad surface 70 causes the X-ray film 131 of the tape body a _{2 to be on} the pipe surface (the pipe surface including the butt welding portion x). Press against. As a result, the X-ray film 131 can be set in a state of being in close contact with the tube surface. After the X-ray photographing by the X-ray photographing device inside the tube, the pressing pad 8 is raised to release the restraint of the X-ray film 131 by the pressing pad 8, and then the self-propelled carriage 1 is moved to the next X-axis.
The sensor 1 described above is moved to the line imaging position.
When the mark 130 is detected by 10, the tape body a ₂ is sent to the take-up reel side by a predetermined amount, and the next X-ray film 13 is formed.
1 is positioned directly below the pad surface 70 of the pressing pad 8. Then, X-ray imaging is performed in the same procedure as described above, and X-ray imaging of the entire circumference of the tube is performed by repeating such a procedure.

Even in the case of such X-ray photography, the traveling roller 5 of the self-propelled carriage 1 is surely adsorbed on the pipe wall surface as in the backing of the first layer welding described above, and It is possible to drive stably on the surface. Similarly, in the self-propelled carriage 1, the wire ropes w ₁ and w ₂ wound around the large diameter pipe p are guided by the guide 111.
Since the traveling roller 5 travels in the pipe circumferential direction in a state of being inserted into the pipe wall, the traveling roller 5 is not sufficiently attracted to the pipe wall surface during traveling and the device does not fall onto the ground surface even if the device falls off the pipe wall surface. Next, FIG.
The use of the apparatus A'of the embodiment shown in FIG. 28 will be described. When the device A'is used as a backing device for performing the first layer welding, the backing of the first layer welding is performed by the same procedure as the embodiment of FIGS. 1 to 23 described above.

On the other hand, when the apparatus A'is used as an X-ray film distribution apparatus for X-ray imaging of a welded portion,
The storage reel 3 is similar to the embodiment of FIGS. 1 to 23 in that the tape body a ₂ on which the X-ray film as shown in FIG. 31 is stored is stored in the storage reel 3. The end portion of the accommodated tape body a ₂ is not wound onto the take-up reel 4, and is locked to the pipe surface at the traveling start position of the device A ′ by the adhesive tape 133 or the like as shown in FIG. Then, by moving the self-propelled carriage 1 in the pipe circumferential direction from this state, the tape bodies a ₂ whose ends are locked to the pipe surface are sequentially fed out from the storage reel 3, and as shown in FIG. It is wound in the direction. At this time, in order to prevent displacement relative to the butt weld x tape body a _2, an adhesive layer was formed at appropriate intervals in the longitudinal direction in the plane of the side in contact with the tube surface of the tape body a ₂ It is good to keep it.

As described above, after the tape body a ₂ is wound in the circumferential direction of the pipe by the traveling of the self-propelled carriage 1, the end of the tape body a ₂ is locked to the pipe surface by the adhesive tape 133 or the like, so that the tape body is The setting of a _{2 for} the large diameter tube p is completed, and the device A ′ is retracted to a position where X-rays are not exposed. Then, X-ray imaging is sequentially performed by the X-ray irradiator inside the tube at the position of each X-ray film 131 of the tape body a ₂ . Also,
After the X-ray photography, the tape body a ₂ is collected by setting the device A ′ at a predetermined position of the large-diameter pipe, then peeling off the end of the tape body a ₂ from the pipe surface, and locking it on the take-up reel 4. Then, the tape body a is wound by the take-up reel 4 while the device A ′ is running in the pipe circumferential direction. It should be noted that the device of the present invention is compatible with the television camera 122A.
By taking an image of the welded portion by using ~ 122C and observing it on a monitor, it can be used as an apparatus for backside inspection.

[0099]

According to the apparatus of the present invention described above, by adopting the trackless magnetic adsorption type traveling system, it is possible to travel on the pipe wall surface and the like without installing rails, and the first layer welding is performed. Since it has both the backing function at the time and the function of distributing the X-ray film to the outer surface of the tube when the X-ray of the welded part is taken, the equipment cost is higher than the conventional one that used a dedicated machine for both works. Can be significantly reduced compared to the conventional one. Further, since the device of the present invention does not require a special interlocking mechanism to synchronize the feeding of the tape body with the traveling speed, the structure of the device can be simplified, and further, between the take-up reel and the pressing means. Since a constant tension is applied to the backing tape, the backing tape burned and burned onto the pipe surface can be easily peeled off, so that the winding of the backing tape is delayed and the tape does not slip on the pipe surface. ,
The feeding of the backing tape can be accurately synchronized with the traveling of the self-propelled carriage.

Since the movement of the self-propelled carriage and the feeding of the backing tape are performed by independent driving means, respectively.
Even if the trolley slips on the running surface for some reason, the backing tape will be fed to the back of the weld regardless of this, so welding will not be hindered and good first layer welding will be performed. It can be carried out. Further, when the X-ray film is distributed, the X-ray film can be distributed in close contact with the wall surface of the tube at the X-ray photographing position, so that an X-ray photograph with clear image quality can be taken. It is not necessary to collect and replace the X-ray film for each X-ray photography,
Efficient X-ray photography can be performed. Further, in particular, in the device described in claims 2 to 8, the following effects can be obtained in addition to the above effects.

That is, according to the apparatus of the second aspect, the traveling roller with the magnet can be surely attracted to the wall surface of the pipe or the like to stably travel the wall surface of the pipe or the like. Also,
According to the apparatus of claim 3, although the self-propelled carriage travels on the pipe wall surface by magnetic attraction, there is almost no adverse effect on the welding due to magnetism, and the welding itself can be performed appropriately. it can. Further, according to the apparatus described in claims 5 to 7, the apparatus can move accurately in synchronization with the automatic welding machine on the inner surface side of the pipe, and the steering for correcting the trajectory can be easily performed according to the misalignment of the pipe. be able to. Further, according to the apparatus of the eighth aspect, the X-ray film mounted on the tape body can be accurately positioned right below the pad surface of the pressing pad. Further, according to the apparatus of claim 9,
Even if suction of the traveling roller to the wall surface of the pipe becomes insufficient, it is possible to appropriately prevent the situation where the device is dropped on the ground and damaged.

[Brief description of drawings]

FIG. 1 is a plan view showing an embodiment of the device of the present invention.

FIG. 2 is a front view showing an embodiment of the device of the present invention.

FIG. 3 is a side view showing an embodiment of the device of the present invention.

FIG. 4 is a front view showing the storage reel in a partial cross section in one embodiment of the device of the present invention.

FIG. 5 is a side view showing the storage reel in a partially sectioned state in an embodiment of the device of the present invention.

FIG. 6 is a front view showing, in a partially sectioned state, a fuel amount measuring mechanism attached to a storage reel in one embodiment of the device of the present invention.

FIG. 7 is a front view showing, in a partially sectioned state, a pressing means having a backing pad, according to an embodiment of the device of the present invention.

FIG. 8 is a side view showing, in a partially sectioned manner, a pressing means equipped with a backing pad in an embodiment of the device of the present invention.

FIG. 9 is a vertical cross-sectional view showing a guide roller that constitutes a pressing unit and a holding mechanism thereof in one embodiment of the device of the present invention.

FIG. 10 is a side view showing a pressing unit equipped with a pressing pad in one embodiment of the device of the present invention.

FIG. 11 is an explanatory view showing a preferable positional relationship between the take-up reel and the pressing means in one embodiment of the device of the present invention.

FIG. 12 is a front view showing a traveling roller and its supporting and driving mechanism in a partially sectioned state in an embodiment of the device of the present invention.

FIG. 13 is a side view showing a traveling roller and a supporting and driving mechanism of the traveling roller according to an embodiment of the present invention in a partially sectional view.

FIG. 14 is an explanatory view showing lines of magnetic force by a permanent magnet of a traveling roller in one embodiment of the device of the present invention.

FIG. 15 is an explanatory view showing details of a backing pad in one embodiment of the device of the present invention.

FIG. 16 is a front view showing a detecting means of a second position detecting mechanism in an embodiment of the device of the present invention.

FIG. 17 is a block diagram of the detection system of the first position detection mechanism in the embodiment of the device of the present invention.

FIG. 18 is a block diagram of the detection system of the second position detection mechanism in the embodiment of the device of the present invention.

FIG. 19 is an explanatory view showing details of a pressing pad in one embodiment of the device of the present invention.

FIG. 20 is a plan view showing a guide provided on a self-propelled carriage in one embodiment of the device of the present invention.

FIG. 21 is a front view showing a guide provided on a self-propelled carriage in one embodiment of the device of the present invention.

FIG. 22 is a front view showing an inclinometer in one embodiment of the device of the present invention.

FIG. 23 is a side sectional view showing an inclinometer in one embodiment of the device of the present invention.

FIG. 24 is an explanatory diagram showing a radial permanent magnet and the directions of lines of magnetic force thereof.

FIG. 25 is an explanatory diagram showing axial permanent magnets and the directions of their magnetic lines of force.

FIG. 26 is a plan view showing another embodiment of the device of the present invention.

FIG. 27 is a front view showing another embodiment of the device of the present invention.

FIG. 28 is a side view showing another embodiment of the device of the present invention.

FIG. 29 is an explanatory view showing a state in which the device of the present invention is used as a backing device.

FIG. 30 is an explanatory view showing a state in which the device of the present invention is guided by a wire rope and is traveling.

FIG. 31 is a plan view showing a tape body having an X-ray film mounted thereon.

FIG. 32 is a side view showing a state in which the tape body on which the X-ray film is mounted is distributed to the tube surface by the apparatus shown in FIGS. 26 to 28.

33 is an explanatory view showing a state of the tape body distributed on the pipe surface by the method shown in FIG. 32.

[Explanation of symbols]

1 ... self-propelled bogie, 2 ... device Te tape body pressing, 3 ... storage reel, 4 ... take-up reel, 5a _1, 5a _2, 5b _1, 5b ₂ ... running rollers, means Te 6 ... pressing, 7 ... backing Pad, 8 ... Pressing pad, 9, 10 ... Shaft support, 11 ... Motor, 12,
13 ... Protective cover, 14, 15 ... Bracket, 16 ... Support shaft, 17 ... Disc brake, 18 ... Sleeve, 19
… Flange, 20… Brake shoe, 21… Fixing plate, 2
2 ... Insertion hole, 23 ... Coil spring, 24 ... Flange portion, 25 ... Body portion, 26 ... Locking mechanism, 27 ... Step portion, 28 ...
Locking member, 29 ... Sleeve, 30 ... Screw shaft, 31 ... Tightening member, 32 ... Remaining amount measuring mechanism, 33 ... Potentiometer, 34 ... Rotation shaft, 35 ... Arm, 36 ... Support shaft, 37
… Rollers, 38… Locking parts, 39… Coil springs, 4
0, 41 ... Guide rollers, 42 ... Frame, 43 ... Holding device, 44 ... Support plate, 45 ... Stand, 46 ... Slide plate, 47 ... Holding shaft, 48 ... Fixed nut, 49 ... Screw shaft, 50 ... Motor, 51 , 52 ... Gears, 53 ... Coil springs, 54 ... Guide tube, 55 ... Slide body, 5
6 ... Attachment part, 57 ... Projection piece, 58, 59 ... Connection part, 60 ...
Connection pin, 61 ... passage, 62 ... injection port, 63, 64 ... shaft support, 65 ... coil spring, 66 ... support member, 67
... Retaining shaft, 68 ... Body, 69, 70 ... Pad surface, 71 ...
Roller body, 72 ... Axle, 73 ... Permanent magnet, 74 ... Roller member, 75a, 75b ... Bearing body, 76 ... Suspension mechanism, 77 ... Connecting pin, 78 ... Pivoting part, 79 ... Pin insertion hole, 80 ... Lock Member, 81 ... Bracket, 82 ... Pin,
83 ... Legs, 84 ... Coil springs, 85 ... Shafts, 8
6, 87 ... Flange, 88, 89 ... Pin, 90 ... Sprocket, 91 ... Drive motor, 92 ... Bevel gear, 93 ...
Gears, 94 ... Sprockets, 95 ... Chains, 96, 9
7 ... Sprocket, 98 ... Magnetic field lines, 99 ... Groove portion, 10
0 ... Bogie main body, 101a ₁ , 101a ₂ , 101b ₁ , 1
01b ₂ ... Photoelectric light receiving element, 102a, 102b ... Adder, 103a, 103b ... Filter, 104a, 104
b ... comparator, 105a, 105b ... setter, 106 ... judgment _{circuit, 107a 1, 107a 2, 107b} 1, 107b 2
... Photoelectric switch, 108a, 108b ... Mounting stay, 1
09 ... discrimination circuit, 110 ... sensor, 111 ... guide, 1
12 ... Guide body, 113 ... Pin, 114 ... Rotating member,
115 ... Guide holes, 116a, 116b ... Notches, 1
17 ... Member, 118 ... Lock lever, 119 ... Pin, 1
20 ... Locking member, 121 ... Coil spring, 122
A, 122B, 122C ... TV camera, 123A, 1
23B, 123C ... Illuminating device, 124 ... Frame, 12
5 ... inclinometer, 126 ... pendulum, 127 ... rotation axis, 128
... control device, 129 ... potentiometer, 130 ... mark, 131 ... X-ray film, 132 ... pocket part,
280 ... Sawtooth portion, 391, 392 ... Coil spring end portion, 400 ... Roller body, 401 ... Collar portion, 451 ... Leg portion, 540 ... Large diameter portion, 541 ... Guide slit, 550
... Flange, 740, 741 ... Roller member part, 91
0 ... motor output shaft, A, A '... present invention apparatus, B ... steering _{baseline, a, a 1, a 2} ... tape body, b ... welding torch

Claims (10)

[Claims] 1. A self-propelled carriage equipped with a plurality of magnet-equipped traveling rollers and driving means therefor, capable of traveling while attracted to a traveling surface such as a pipe wall surface by the magnetized traveling rollers, and mounted on the self-propelled carriage. The tape body pressing device comprises a tape body storage reel and a drive means for rotation of the tape body. The rotation of the tape body pushes out the tape body from the storage reel and A take-up reel
The storage reel and the take-up reel are composed of pressing means that can be moved up and down to press the tape body against the traveling surface, and the pressing means is a backing pad and X-rays that can be exchanged with each other by attachment and detachment. An apparatus having a one-sided welding backing function and an X-ray film distribution function for nondestructive inspection, which is provided with a film pressing pad. 2. A self-propelled carriage comprises traveling rollers with magnets, which are driven by at least four wheels in front, rear, left and right, each traveling roller being swingable in the width direction of the carriage, and traveling at least at the front or rear of the carriage. The apparatus having the one-sided welding backing function and the X-ray film distribution function for nondestructive inspection according to claim 1, wherein the roller has a suspension mechanism. 3. A self-propelled carriage is provided with magnet-equipped traveling rollers that are driven by at least four wheels in front, rear, left and right, and axial traveling permanent magnets are concentrically incorporated in each traveling roller of the self-propelled carriage, and An apparatus having a single-sided welding backing function and an X-ray film distribution function for non-destructive inspection according to claim 1 or 2, wherein the poles of the ring-shaped permanent magnets on opposite sides of the traveling roller have the same polarity. 4. The front and / or rear of the self-propelled carriage,
A single-sided welding backing function according to claim 1, 2 or 3 provided with a TV camera capable of photographing a marker on the welding machine side through a gap in a groove portion, and a film distribution function for X-ray for nondestructive inspection. apparatus. 5. A photodetector is provided at each of a front portion and a rear portion of a backing pad feeding direction on a pad surface of the backing pad, and welding is performed in a welding advancing direction of the backing pad based on a light reception output of the photodetector. A first position detection mechanism for detecting a relative position to the torch, and a light projecting means for projecting light on the traveling surface side and a reflected light from the traveling surface side for each position of the front portion and the rear portion of the self-propelled carriage. A pair of photodetectors to be received are provided at appropriate intervals in the vehicle width direction, and the photodetector is drawn on the surface to be driven based on the illuminance of the reflected light detected by the photodetector or the light reception output of the photodetector. A second position detecting mechanism for detecting the turning or / and the lateral deviation of the backing pad with respect to the welding line by discriminating between the steering baseline and the traveling surface outside thereof, and the first position detecting mechanism and the first position detecting mechanism. 2 Based on the position detection information by the position detection mechanism The single-sided welding backing function and the non-destructive inspection according to claim 1, 2, 3 or 4, further comprising: a control means for controlling the traveling speed and steering of the self-propelled carriage so that the backing pad is located directly below the welding torch. With X-ray film distribution function for 6. At least one pair of photodetectors provided at front and rear positions of the backing pad on the pad surface of the backing tape in the feeding direction are arranged at appropriate intervals in the width direction of the backing pad. An apparatus having the one-sided welding backing function and the X-ray film distribution function for nondestructive inspection according to claim 5, which comprises the photodetector. 7. The X-ray for single-sided welding backing function and nondestructive inspection according to claim 5, wherein the light projecting means and the photodetector in the second position detecting mechanism are constituted by photoelectric switches. A device that has a film distribution function. 8. The pressing pad has a detection means capable of detecting a mark attached to a tape body having an X-ray film mounted thereon. An apparatus having the one-sided welding backing function and the X-ray film distribution function for nondestructive inspection described in 1. 9. The self-propelled carriage has a guide for inserting a rope wound in a ring shape around the outer circumference of a large-diameter pipe or the like. An apparatus having a single-sided welding backing function according to 7 or 8 and an X-ray film distribution function for nondestructive inspection. 10. A self-propelled carriage comprising a plurality of magnet-equipped traveling rollers and a driving means therefor, capable of traveling while adsorbed to a traveling surface such as a pipe wall surface by the magnetized traveling rollers, and the self-propelled carriage. It consists of the tape body pressing device mounted,
The tape body pressing device has a storage reel for the tape body and a drive means for rotation, and the rotation of the reel reels out the tape body from the storage reel and winds the tape body, and the storage reel. A single-sided welding backing function and a non-destructive inspection, which comprises an up-and-down pressing means for pressing the tape body between the take-up reels and the traveling surface, and the pressing means includes a backing pad. A device with a film distribution function for X-rays.