JP2650174B2 - Steel pipe laying equipment - Google Patents

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to measurement and inspection of a groove shape,
The present invention relates to a steel pipe laying apparatus capable of performing welding and ultrasonic inspection.

[0002]

2. Description of the Related Art The laying of steel pipes, such as gas pipes, requiring high quality is performed according to the following procedure. (1) Groove inspection by a third-party inspection organization when single pipes are butted. (2) If the groove inspection result passes, weld the steel pipe. (3) Destructive inspection such as ultrasonic inspection test or radiation transmission test Quality check by welding

[0003] A groove inspection for measuring the shape of a groove and determining whether or not the groove is acceptable has conventionally been performed manually without an apparatus for performing this. For welding, see JP-A-52-133050.
There has been a welding apparatus disclosed in Japanese Patent Laid-Open Publication No. H10-207, which estimates a groove shape by a light cutting method and controls welding conditions in accordance with the groove shape. FIG. 8 shows the configuration of this welding apparatus. The laser 16 emitted from the laser light source 14 is imaged by the imaging device 15, and the groove shape is estimated by the groove shape estimation device 17. Drive control device 18 and power control device 1
9, the welding speed is determined by determining the traveling speed, the height of the welding torch, the welding current, the welding voltage, and the like. here,
Pass / fail of the groove inspection results has not been determined. In addition, in the ultrasonic flaw detection test, since the shape of the groove has not been conventionally measured, the ultrasonic probe 5 attached to the scanning device 4 is connected to the steel pipe along the welded portion 10 as shown in FIG. The test was carried out by running linearly on the rail 3 set in 1.

[0004]

However, there are the following problems in laying a conventional steel pipe as described above. (A) Since the groove inspection is not mechanized, the measurement results vary. (B) Since welding is performed at the same time as estimating the groove shape, no measures have been taken for cases where the groove shape does not conform to the specified standard or when the welding condition exceeds the control range of welding conditions. It is difficult to ensure the quality of (C) In the ultrasonic flaw detection test of the welded portion, in order to appropriately detect and evaluate the defect of the welded portion, as shown in FIG. 10, an ultrasonic probe for transmitting and receiving the ultrasonic wave 12 at a specific refraction angle θ. It is necessary to set the child 5 at a position separated by a predetermined distance Ya from the groove root portion 11. However, after the welding is completed, as shown in FIG. 11, the center line C1 of the grooved root portion 11 is not necessarily the center line C2 of the welded portion (weld bead) 10.
However, it is not always possible to specify the root portion of the groove. In the conventional ultrasonic flaw detection test, the ultrasonic probe has only a function of running linearly along the welding line, and it has been difficult to specify the root portion of the groove.

SUMMARY OF THE INVENTION The present invention has been made to solve the above problems, and an object of the present invention is to provide a steel pipe laying apparatus capable of obtaining high-quality welding and performing highly reliable welding inspection. I do.

[0006]

The laying device according to the present invention comprises a scanning device which travels in the circumferential direction of the steel pipe and in the axial direction of the pipe;
A groove shape estimating device for estimating the shape of a groove and a pass / fail determination device for determining whether or not the groove shape estimated by the groove shape estimating device is within a predetermined allowable range. A groove measuring device that creates data of the groove, the groove measuring device that can be attached to and detached from the scanning device, a storage unit that stores data of the formed groove shape, a welding device that performs welding, and a welding defect. An ultrasonic flaw detector for measuring, wherein the welding apparatus controls the welding position and welding conditions based on the data stored in the storage means, and the ultrasonic flaw detection apparatus controls the flaw detection position based on the data stored in the storage means. It is like that.

[0007]

According to the laying device of the present invention, the groove shape is estimated by the groove measuring device, and the acceptance or rejection of the groove shape is determined. I do. Then, welding is performed by the welding device while following the groove according to the welding conditions corresponding to the groove shape, and the position of the welding defect is measured and evaluated by the ultrasonic flaw detector while following the groove according to the groove shape. In this case, a scanning device can be used for groove profiling in the welding device and the ultrasonic flaw detection device.

[0008]

FIG. 1 is an overall configuration diagram showing an embodiment of the present invention. In the drawing, 1 is a steel pipe, 2 is a groove of the steel pipe 1, 3 is a rail installed on the steel pipe 1, 4 is a rail running on the rail 3 in a circumferential direction of the steel pipe 1 and running (sliding) in a pipe axis direction. It is a scanning device. Reference numeral 20 denotes a groove measuring device that measures the shape of the groove 2 to create data thereof and determines whether or not the measured groove shape is acceptable. Reference numeral 30 denotes a welding device for welding two steel pipes. Reference numeral 40 denotes a welding portion. An ultrasonic flaw detector for measuring the position of a defect generated in a scanning device 4 is attached to the scanning device 4. Reference numeral 50 denotes a memory card in which groove shape data obtained by the groove measuring device 20 is stored.

FIG. 2 is a block diagram showing an example of the ultrasonic flaw detector 40. The ultrasonic flaw detector 40 includes the data storage device 4.
1. Probe scanning control device 42, ultrasonic probe 43, scanning device 44 having ultrasonic probe 43 attached thereto, flaw detector 4
5. It comprises a display 46. When the memory card 50 storing the groove shape data is input to the data storage device 41, the probe scanning control device 42
The scanning device 44 is caused to travel to the welding portion 10 according to the groove shape from the ultrasonic probe 43 to scan the ultrasonic probe 43. Then, the flaw detector 45 sends the ultrasonic probe 43 from the probe scanning control device 42.
And the test result is displayed on the display 46.

FIG. 3 is an external view of the scanning device 44 constituting the ultrasonic flaw detector 40 shown in FIG. 1 and shows a case where the scanning device 44 has moved from the horizontal position of the steel pipe 1 to the uppermost part of the steel pipe 1. I have. Under the control of the probe scanning control device 42, the scanning device 44 moves the ultrasonic probe 43 in the circumferential direction and the tube axis direction of the steel pipe 1 by using an X-axis motor and a Y-axis motor (not shown). The ultrasonic probe 43 is copied to the welded portion 10.

FIG. 4 shows a test result of a circumferential welded portion of a steel pipe obtained by the ultrasonic flaw detector 40, in which the height of a reflected echo of an ultrasonic wave is displayed in a circular shape. The position where the height of the reflected echo is high indicates the position where the defect exists.

FIG. 5 is a block diagram showing an example of the welding apparatus 30 of FIG. The welding device 30 includes a data storage device 31, a welding control device 32, a welding torch 33 for actually performing welding, and a scanning device 34 to which the welding torch 33 is attached. When the memory card 50 storing the groove shape data is input to the data storage device 31, the welding control device 32 controls the position and height of the welding torch 33 via the scanning device 34 according to the groove shape. The welding torch 33 is moved in the circumferential direction of the steel pipe 1 while controlling the welding current and the welding voltage according to the groove shape, and the groove 2 is welded.

FIG. 6 is a block diagram showing an example of a groove measuring device using the light section method. The groove measuring device 20 includes a laser light source 14, an imaging device 15, a groove shape estimating device 23, a pass / fail determination device 22, and a data storage device 21. Reference numeral 16 denotes a laser emitted from the laser light source 14. The groove shape estimating device 23 estimates the shape of the groove 2 from information obtained by the laser light source 14 and the imaging device 15, and the estimated groove shape enters the pass / fail determination device 22. The pass / fail judgment device 22 stores in advance the allowable range of the groove shape to be accepted and the control range of the welding condition, and compares the estimated groove shape with the stored data to determine whether the groove shape is acceptable. Is determined. When the groove shape does not match the predetermined allowable range, the operation of adjusting the groove again is performed. The data of the groove shape measured by the groove measuring device 20 is stored in the data storage device 21 so that the data can be taken out to the outside by using the memory card 50. In this embodiment, the data storage device 21 is a device constituting the groove measuring device 20, but may be configured differently from the groove measuring device 20.

FIG. 7 is an explanatory view showing the use of the groove measuring device 20 shown in FIG. 6 for the groove measurement according to the present invention. This is the laser light source 1
4 and the imaging device 15 are attached to the traveling device 24, and the traveling device 24 travels in the circumferential direction of the steel pipe 1,
The groove shape of the entire circumference of the steel pipe can be measured.

Each data storage device 2 in this embodiment
For 1, 31, 41, a magnetic memory or a semiconductor memory can be used. Further, each of the scanning devices 24, 34,
Reference numeral 44 denotes a device in which only the attachment portion of the scanning device 4 is replaced. Further, the ultrasonic probe 43 is provided with the groove measuring device 2.
In addition to running according to the groove shape obtained at 0, the vehicle may be driven according to the groove shape obtained from the welding device 30 performing welding while following the groove.

[0016]

As described above, according to the present invention, a groove measuring device having a function of measuring and storing the shape of a groove and performing welding under welding conditions corresponding to the groove shape. Since the welding device and the ultrasonic flaw detector that scans the ultrasonic probe according to the groove shape are provided, high-quality welding can be obtained, and a highly reliable welded portion can be inspected. In addition, one scanning device can be used for groove copying of both the welding device and the ultrasonic flaw detection device, and the device can be simplified and the cost can be reduced.

[Brief description of the drawings]

FIG. 1 is an overall configuration diagram showing an embodiment of the present invention.

FIG. 2 is a configuration diagram illustrating an example of an ultrasonic flaw detector.

FIG. 3 is an external view of a scanning device.

FIG. 4 is a display example of a test result by the ultrasonic flaw detector.

FIG. 5 is a configuration diagram illustrating an example of a welding device.

FIG. 6 is a configuration diagram illustrating an example of a groove measuring device.

FIG. 7 is an explanatory view in which the groove measuring device of FIG. 6 is used for a groove inspection according to the present invention.

FIG. 8 is a configuration diagram showing control of a conventional welding device.

FIG. 9 is an explanatory view of scanning by a conventional ultrasonic probe.

FIG. 10 is an explanatory diagram of a problem in a conventional ultrasonic inspection test.

FIG. 11 is an explanatory diagram of a problem in a conventional ultrasonic test.

[Explanation of symbols]

 Reference Signs List 1 steel pipe 2 groove 3 rail 4 scanning device 10 welding portion 14 laser light source 15 imaging device 20 groove measuring device 24 scanning device 30 welding device 33 welding torch 34 scanning device 40 ultrasonic flaw detector 43 ultrasonic probe 44 scanning device 50 memory card

Claims (1)

(57) [Claims] 1. A scanning device which travels in a circumferential direction and a tube axis direction of a steel pipe, a groove shape estimating device for estimating a groove shape, and the groove shape
The groove shape estimated by the estimating device is
It has a pass / fail judgment device to judge whether it is within the enclosure.
A groove measuring device for creating tip shape data,
A groove measuring device detachable from the inspection device, storage means for storing data of the formed groove shape, a welding device for performing welding, and an ultrasonic flaw detector for measuring welding defects, the welding device controls the welding position and welding condition on the basis of the data stored in the storage means, the ultrasonic flaw detector laying device steel pipe and controlling the inspection position based on stored data in said storage means .