JP6785643B2 - Detector moving device - Google Patents

Description

The present invention relates to a probe moving device.

Conventionally, a detection method using an ultrasonic probe has been known for detecting an internal defect of an inspection target. In this detection method, when the inspection target has a columnar portion, a probe that transmits and receives ultrasonic waves is brought into contact with the peripheral surface of the columnar portion, and the probe is attached to the columnar portion. By moving in the circumferential direction, it is possible to detect the presence or absence of defects on the entire circumference of the columnar portion.

As a moving device for moving the probe in the circumferential direction along the peripheral surface of the columnar portion, for example, the moving device described in Patent Document 1 is known. This moving device is used in the circumferential direction of a horizontally extending columnar portion to be inspected (for example, a crank throw pin portion (a large cylindrical portion having a diameter of about 1 m) in the crankshaft of a large marine engine). It has a pair of movable trolleys. That is, this moving device includes a pair of trolleys on which probes can be mounted, wheels provided on each trolley so as to be rotatable in the circumferential direction of the columnar portion, and a motor for rotationally driving the wheels. , A chain for connecting the pair of carriages to each other is provided.

In this moving device, the pair of carriages are connected to each other by a chain in a state where the pair of carriages are arranged at opposite positions of the columnar portions. As a result, the pair of trolleys equipped with the probes can travel so as to rotate around the horizontal axis around the columnar inspection target extending in the horizontal direction while balancing each other.

Japanese Unexamined Patent Publication No. 2004-361352

The moving device for moving the probe in the circumferential direction as described above has a structure in which a pair of holders are fixed to the peripheral surface of the columnar portion with the columnar portion sandwiched by the tightening force of the chain. Therefore, when the inspection target is a columnar member extending in the vertical direction, for example, a metal pipe which is a pillar part such as a road light or a road sign erected on the ground, the moving device is attached to the metal pipe. There is a problem that it cannot be attached and run smoothly on the peripheral surface of the metal pipe. That is, in this structure, even if the pair of carriages is tightened with a chain around the metal pipe extending in the vertical direction and pressed against the peripheral surface of the columnar portion, the pair of carriages is the circumference of the columnar portion. Since gravity acts in the direction orthogonal to the direction and shifts downward, there is a possibility that the columnar portion cannot be mounted at a predetermined height position. Further, when the tightening force of the chain is increased in order to strongly press the pair of carriages against the columnar portion, the chain is strongly pressed against the peripheral surface of the metal pipe, so that the traveling resistance of the pair of carriages increases and the metal pipe There is a risk that the vehicle will not run smoothly on the peripheral surface.

The present invention has been made in view of the above circumstances, and an object of the present invention is to provide a probe moving device capable of moving a probe by attaching it to a metal tube extending in a vertically direction. ..

In order to solve the above problems, the probe moving device of the present invention applies ultrasonic waves to the metal pipe in order to detect a defect generated in the metal pipe erected on the ground so as to extend in the vertical direction. A probe moving device for moving a probe for transmitting and receiving in the circumferential direction of the metal tube, a probe holder having a probe holding portion for holding the probe, and the probe. Moves the probe holder in the circumferential direction of the metal tube in a posture facing the peripheral surface of the metal tube, so that the probe holder is moved in the circumferential direction of the metal tube on the peripheral surface of the metal tube with respect to the probe holder. A plurality of rolling members rotatably attached to the metal, a magnet that generates a magnetic force that presses the plurality of rolling members in a direction in contact with the peripheral surface of the metal pipe, and the plurality of rolling members are pressed against the metal. The driving unit that applies a rotational driving force to roll the rolling member in the circumferential direction of the pipe, and the rolling member in a direction away from the peripheral surface of the metal pipe against the magnetic force generated by the magnet. A holder moving portion for moving the probe holder is provided, and the probe holding portion has a configuration of holding the probe in a state of being in direct contact with the peripheral surface of the metal tube, and the plurality of the probe holding portions. The rolling member includes a first rolling member and a second rolling member arranged on both sides of the probe holding portion in the circumferential direction, and the driving portion rotationally drives the first rolling member. A first driving unit and a second driving unit that rotationally drives the second rolling member independently of the first driving unit are included, and the first rolling member and the second rolling member are The probe holding portion is arranged so as to sandwich the probe holding portion from the front and back in the circumferential direction, and the holder moving portion is movably attached to the probe holder in the normal direction of the peripheral surface of the metal tube. A pressing member that can be displaced between a position that abuts on the peripheral surface and a position that is separated from the peripheral surface, and a pressing force that presses against the peripheral surface are applied to the pressing member and a reaction force of the pressing force is applied. By giving to the probe holder, the probe holder has an operating member that moves the probe holder in a direction away from the peripheral surface of the metal tube, and the operating member has a handle and an arm. The arm is swingably attached to the probe holder, the handle is attached to one end of the arm, and the pressing member is link-coupled to the other end of the arm. It is characterized by.

In such a configuration, the rolling element is pressed against the peripheral surface of the metal tube extending in the vertical direction by the magnetic force generated by the magnet, so that the probe moving device is attached at a predetermined height position on the peripheral surface of the metal tube. Is possible. In this configuration, unlike the conventional moving mechanism, a chain for pressing the dolly against the peripheral surface of the metal pipe is not required, so that the chain may come into contact with the peripheral surface of the metal pipe to generate running resistance of the dolly. There is no. Therefore, the probe holder holding the probe can smoothly travel in the circumferential direction of the metal tube.
Further, in the above configuration, the plurality of rolling members include a first rolling member and a second rolling member arranged on both sides of the probe holding portion in the circumferential direction, and the driving portion is Includes a first driving unit that rotationally drives the first rolling member, and a second driving unit that rotationally drives the second rolling member independently of the first driving unit. In such a configuration, the first rolling member and the second rolling member, which are arranged at positions on both sides of the metal tube in the probe holding portion where the probe is held, are individually first. Driven by the drive unit and the second drive unit, a large propulsive force in the circumferential direction is generated on both sides of the metal tube in the probe in the circumferential direction. This makes it possible to smoothly move the probe moving device in the circumferential direction of the metal tube even if the attractive force of the magnet is large.
Further, in the above configuration, the probe moving device moves the probe holder in a direction in which the rolling member moves away from the peripheral surface of the metal tube against the magnetic force generated by the magnet. It has a part. According to this configuration, when the probe moving device is removed from the peripheral surface of the metal tube, the holder moving portion resists the magnetic force of the magnet and the rolling member moves away from the peripheral surface of the metal tube. By moving the probe, the probe moving device can be easily separated from the peripheral surface of the metal tube.
Further, in the above configuration, the holder moving portion is movably attached to the probe holder in the normal direction of the peripheral surface of the metal tube, and is attached to the position of contact with the peripheral surface and from the peripheral surface. The probe is made by applying a pressing member that can be displaced between the separated positions and a pressing member that presses against the peripheral surface of the pressing member and applying a reaction force of the pressing force to the probe holder. It has an operating member that moves the tentacle holder in a direction away from the peripheral surface of the metal tube. According to this configuration, when the probe moving device is removed from the peripheral surface of the metal tube, the operating member presses the pressing member against the peripheral surface of the metal tube with the pressing member in contact with the peripheral surface of the metal tube. The pressing force is applied and the reaction force of the pressing force is applied to the probe holder. As a result, the probe holder can be moved in a direction away from the peripheral surface of the metal tube, and as a result, the probe moving device can be easily separated from the peripheral surface of the metal tube.
Further, in the above configuration, the probe holding portion is configured to hold the probe in a state of being in direct contact with the peripheral surface of the metal tube. Therefore, the probe can be held in direct contact with the peripheral surface of the metal tube.
Further, in the above configuration, the operating member has a handle and an arm, the arm is swingably attached to the probe holder, and the handle is attached to one end of the arm. The pressing member is linked to the other end of the arm. Therefore, the operator grips the handle and swings the arm to manually apply a pressing force to the peripheral surface of the pressing member and detect the reaction force of the pressing force. It can be given to the child holder. As a result, the probe moving device can be separated from the peripheral surface of the metal tube by manual operation.

It is preferable to further include a rolling member rotation angle detecting unit that detects the rotation angle of the rolling member.

In such a configuration, the position of the probe moving device traveling in the circumferential direction of the metal tube in the circumferential direction by detecting the rotation angle of the rolling member such as a wheel by the rolling member rotation angle detecting unit. Can be detected accurately. This makes it possible to associate the ultrasonic signal data received by the probe with the position data in the circumferential direction.

Each of the plurality of rolling members includes a pair of metal disks that are separated from each other in the axial direction of the rolling member and can roll in the circumferential direction of the metal tube, and the magnet is the pair of metal circles. It is preferable to form a magnetic field that holds the pair of metal disks on the peripheral surface of the metal tube by being arranged between the plates and abutting each of the pair of metal disks.

In such a configuration, when the magnets abut on each of the pair of metal disks, a magnetic field for holding the pair of metal disks on the peripheral surface of the metal tube is formed, so that the pair of metal disks are formed by the metal tube. It is possible to roll along the peripheral surface while being attracted to the peripheral surface of the magnet. In this structure, the magnetic force generated by the magnet acts on the peripheral surface of the metal tube via a pair of rolling metal disks, so that the magnet rubs against the peripheral surface of the metal tube, causing the traveling resistance of the probe moving device. Can be prevented from increasing.

As described above, according to the probe moving device of the present invention, the probe can be smoothly moved by being attached to a metal tube extending in the vertical direction.

It is a perspective explanatory view which shows the structure of the abnormality detection device which includes the probe moving device which concerns on embodiment of this invention. It is a block diagram which shows the system configuration of the abnormality detection device of FIG. It is a perspective view which looked at the probe unit of FIG. It is a perspective view which looked at the probe unit of FIG. It is a front view of the probe unit of FIG. It is a bottom view of the probe unit of FIG. FIG. 5 is a sectional view taken along line VII-VII of the probe unit of FIG. FIG. 6 is a perspective view showing an axle assembly with a pair of wheels and axles of FIG. FIG. 5 is a cross-sectional view of the axle assembly of FIG. 8 cut along the longitudinal direction of the axle. FIG. 3 is a perspective view of a cover plate assembly including a cover plate of the probe holder and a motor of FIG. It is a perspective view of a pair of pressing members and a guide member of the holder moving part of FIG. 11 is a cross-sectional view of the pair of pressing members and the guide member of FIG. 11 in a state of being cut in a direction parallel to the pair of pressing members.

Hereinafter, the probe moving device of the present invention will be described in more detail with reference to the drawings.

FIGS. 1 and 2 show an abnormality detection device 1 including a probe unit 2 including a probe moving device according to an embodiment of the present invention. The abnormality detection device 1 has a detection unit 2 and a detection unit 2 that detect an abnormality in the metal pipe P by scanning the peripheral surface of the metal pipe P installed on the ground so as to extend in the vertical direction in the circumferential direction X. It is provided with a control box 3 for operating the above and a display unit 4 for displaying information such as measurement data.

As shown in FIGS. 2 to 4, the probe unit 2 includes an ultrasonic probe 6 (hereinafter referred to as a probe 6) that transmits and receives ultrasonic waves to and from the metal tube P, and the probe. Includes a probe moving device that moves 6 in the circumferential direction X of the metal tube P.

As shown in FIG. 1, the metal tube P to be inspected is a tubular member containing a magnetic material such as iron or stainless steel. The metal pipe P is erected so as to extend in the vertical direction while being partially embedded in an installation surface such as soil or concrete. Such a metal pipe P may have a defect C (for example, a corroded portion or a crack generated in the ground or near the ground). The probe unit 2 can detect the above-mentioned defect C by scanning the metal tube P in the circumferential direction X in a state where ultrasonic waves are transmitted downward from the probe 6.

The probe unit 2 is mounted on the probe 6, the probe holder 5 on which the two probes 6 are mounted, and the probe holder 5 so as to be rotatable in the circumferential direction X. A plurality of wheels 7 that are rolling members, a motor 9 that rotationally drives the wheels 7, a magnet 17 that attracts each wheel 7 to the peripheral surface of a metal tube P, and a wheel rotation angle that detects the rotation angle of the wheels 7. It is provided with a rotary encoder 8 which is a detection unit. The magnet 17 is provided inside each wheel 7. The probe holder 5, the plurality of wheels 7, the motor 9, the magnet 17, and the rotary encoder 8 constitute the probe moving device according to the present embodiment.

As shown in FIGS. 3 to 7, the probe holder 5 has two cover plates 5b detachably attached to the main body 5a and both front and rear sides of the circumferential direction X which is the traveling direction of the main body 5a. And have.

The main body 5a is a hollow case opened on the side facing the metal tube P (lower side in FIG. 7). Inside the main body 5a, two probe holding portions 10 for holding the two probes 6 are provided.

As shown in FIG. 7, the probe holding portion 10 is inserted into a plurality of coil springs 10a and the coil springs 10a, and the coil springs 10a are inserted in the normal direction of the peripheral surface of the metal tube P (up and down in FIG. 7). The rod 10b that supports the rod 10b so as to extend in the direction), the pressing portion 10c that is fixed to the lower end of the rod 10b and presses the probe 6 downward, and the rod 10b in the normal direction (vertical direction in FIG. 7). It has a guide member 10e such as a ball slide for guiding. The coil spring 10a is compressed between the upper end of the pressing portion 10c and the lower end of the upper partition wall 10d inside the main body portion 5a. As a result, the probe 6 is pressed against the surface of the metal tube P by receiving the urging force of the coil spring 10a via the pressing portion 10c.

In the present embodiment, one of the two transducers 6 for transmission 6 transmits ultrasonic waves S downward in contact with the metal tube P, and the other probe for reception. The child 6 receives the reflected wave reflected from the lower end of the metal tube P, the defect C, or the like. As the probe 6, one probe for both transmission and reception may be adopted.

The two cover plates 5b are flat plate-shaped members, respectively, as shown in FIGS. 3 to 5, 7 and 10, respectively. A motor 9 is attached to each cover plate 5b. As shown in FIG. 10, a transmission shaft 14 is connected to a drive shaft (not shown) of the motor 9. The transmission shaft 14 is rotatably supported by a bearing 19 attached to the cover plate 5b. A worm gear 15 on the drive side is fixed to the tip of the transmission shaft 14.

As shown in FIGS. 4 to 7, the plurality of wheels 7 are rolling members that are rotatably attached to the probe holder 5 on the peripheral surface of the metal tube P in the circumferential direction of the metal tube P. .. As a result, the plurality of wheels 7 can move the probe holder 5 in the circumferential direction X of the metal tube P in a posture in which the probe 6 faces the peripheral surface of the metal tube P. The plurality of wheels 7 include a first wheel 7A and a second wheel 7B arranged on both sides in the circumferential direction X in the probe holding portion 10.

The first wheel 7A and the second wheel 7B are each composed of a pair of wheels 7 fixed to both ends of one axle 12 shown in FIGS. 8 to 9.

The pair of wheels 7 are a pair of metal disks 7a fixed to the axle 12 so as to be separated from each other in the axial direction of the wheels 7 (that is, the direction in which the axle 12 extends), and the matching metal disks 7a. It has an annular member 7b arranged between them. A magnet 17 is arranged in a space surrounded by a pair of metal disks 7a and an annular member 7b.

As the pair of metal disks 7a, for example, one in which a ferromagnetic material such as iron is plated (for example, one in which a steel material such as SS400 or S45C is plated with electroless nickel or the like) is used.

The pair of metal disks 7a are fixed to the axle 20 by the pins 20. Specifically, each of the pair of metal disks 7a is formed with slits 7a penetrating in the thickness direction. Pins 20 that fit into the through holes 12a of the axle 12 are inserted into these slits 7a. As a result, the pair of metal disks 7a are fixed to the axle 20 so that they can rotate integrally with the axle 20.

The annular member 7b is made of a material such as resin (MC nylon or the like) or rubber (NBR or the like) to protect the magnet 17.

The magnet 17 is a cylindrical permanent magnet, and generates a magnetic force that presses the wheel 7 in the direction of contact with the peripheral surface of the metal tube P. Specifically, the magnet 17 is arranged between the pair of metal discs 7a, and the surfaces of the two magnetic poles of the magnet 17 are in contact with the pair of metal discs 7a, respectively. As a result, the magnet 17 forms a magnetic field that holds the pair of metal disks 7a on the peripheral surface of the metal tube P. Since the outer circumference of the magnet 17 is covered with the annular member 7b, contact between the magnet 17 and the peripheral surface of the metal tube P is avoided.

As shown in FIGS. 8 to 9, the axle 12 that fixes the pair of wheels 7 is rotatably supported by a plurality of bearings 18. These bearings 18 are fitted into recesses (not shown) formed on facing surfaces of the main body 5a of the probe holder 5 and the cover plate 5b shown in FIGS. 4 and 7.

Further, as shown in FIGS. 8 to 9, a driven worm gear 13 is fixed to the intermediate portion of the axle 12. Inside the probe holder 5, the worm gear 13 meshes with the drive-side worm gear 15 connected to the transmission shaft 14 of the motor 9 shown in FIG. As a result, the rotational driving force of the motor 9 is transmitted in the order of the transmission shaft 14, the worm gear 15 on the drive side, the worm gear 13 on the driven side, and the axle 12, and finally the pair of wheels 7 fixed on both sides of the axle 12. Is transmitted to. As a result, the motor 9 obtains a rotational driving force for rolling the plurality of wheels 7 in the circumferential direction of the metal pipe P, respectively.

In the present embodiment, the tactile unit 2 is a motor 9, and as shown in FIGS. 3 to 4, the first motor 9A that rotationally drives the first wheel 7A and the first motor 9A are independent of the first motor 9A. A second motor 9B that rotationally drives the two wheels 7B is provided. With these two motors 9A and 9B, it is possible to obtain a large propulsive force for the probe unit 2 to travel on the peripheral surface of the metal tube P. For example, a large propulsive force is ensured by giving the same electric pulse signal to the first motor 9A and the second motor 9B from the motor control unit 26a described later of the control box 3 and driving the motors 9A and 9B in synchronization with each other. It is possible to get to. The drive control of the first motor 9A and the second motor 9B can be performed by a control other than giving the same electric pulse signal.

A rotor (not shown) inside the rotary encoder 8 shown in FIGS. 6 and 9 is fixed to the end of the axle 12. As a result, the rotary encoder 8 can directly detect the rotation angle of the axle 12 to which the wheels 7 are fixed.

Further, in the probe unit 2 of the present embodiment, the probe holder 5 is provided with a holder moving portion 11 as shown in FIGS. 3 and 5. The holder moving portion 11 has a configuration in which the probe holder 5 is moved in a direction in which the wheel 7 is separated from the peripheral surface of the metal tube P against the magnetic force generated by the magnet 17.

Specifically, as shown in FIGS. 3 to 6 and 11 to 12, the holder moving portion 11 includes two pressing members 11a, an operating member 11b that applies an operating force to the pressing member 11a, and two. It has a guide member 11c having a guide hole 11c1 for guiding the pressing member 11a of the metal tube P in the normal direction of the peripheral surface of the metal tube P (vertical direction in FIGS. 11 to 12).

The pressing member 11a is a long and thin rod-shaped member, and is attached to the probe holder 5 so as to be movable in the normal direction of the peripheral surface of the metal tube P. Specifically, a guide member 11c is attached to the inside of the probe holder 5 so that the guide hole 11c1 faces the above normal direction, and the pressing member 11a is inserted into the guide hole 11c1. There is. As a result, the pressing member 11a moves in the above-mentioned normal direction inside the guide hole 11c1 and is displaced between the position where the metal tube P abuts on the peripheral surface and the position where the metal tube P is separated from the peripheral surface. It is possible.

As shown in FIGS. 3 and 5, the operating member 11b is configured by, for example, an operating lever having a handle and a pair of arms as a configuration capable of applying an operating force to the pressing member 11a. As shown in FIG. 5, the operating member 11b has the above-mentioned circumferential direction X (that is, the paper surface of FIG. 5) with respect to the portion of the main body portion 5a of the probe housing 5 in which the probe holding portion 10 is housed. A bolt 11d extending in the vertical direction) is swingably attached with the bolt 11d as the center of rotation. The tip of the operating member 11b is linked to the upper end of the pressing member 11a via the pin 11e. In other words, the operating member 11b is swingably connected to the pressing member 11a around the pin 11e.

In the holder moving portion configured as described above, when the operator manually rotates the operating member 11b clockwise around the bolt 11d, the tip of the operating member 11b is directed to the pressing member 11a via the pin 11e. A pressing force is applied to the peripheral surface of the metal tube P. At the same time, the operating member 11b may be provided to the probe holder 5 probe a reaction force of the pressing force via a bolt 11 d. As a result, the probe holder 5 can be moved in a direction away from the peripheral surface of the metal tube P.

When not in use, the operating member 11b is fixed to the probe holder 5 by the fixing pin 11f so that it cannot rotate.

As shown in FIGS. 1 and 2, the control box 3 is connected to the probe 6, the motor 9, and the rotary encoder 8 of the probe unit 2 via signal lines, respectively. The control box 3 has a start / stop switch (hereinafter, “switch” is abbreviated as SW) 21 for instructing the start and stop of the motor 9, and the detection unit 2 in either the forward direction or the reverse direction of the circumferential direction X. The direction switching SW22 for switching to the Crab, the manual automatic switching SW23 for switching between the automatic mode for automatically traveling the detection unit 2 based on the traveling data stored in advance and the manual mode for manually operating the traveling of the detection unit 2, and It is provided with an adjustment knob 24 that adjusts the traveling speed of the detection unit 2 to an arbitrary speed in the manual mode, and an emergency stop SW25 that stops the traveling of the detection unit 2 in an emergency. The control box 3 further includes a central processing unit (CPU) 26. The CPU 26 has a motor control unit 26a that controls the operation of the motor 9 based on the input signals from the SW21 to 25, and a calculation unit 26b. The calculation unit 26b creates measurement data based on the reflected wave data received by the probe 6 and the wheel rotation angle data from the rotary encoder 8. The created measurement data is drawn on the display unit 4 in a graph and displayed. As a result, the operator can detect the defect C over the entire circumference of the metal tube P by observing the shape of the graph displayed on the display unit 4.

The calculation unit 26b may be built in the display unit 4 instead of the control box 3.

In the probe moving device of the present embodiment included in the probe unit 2, the wheel 7 is pressed against the peripheral surface of the metal tube P extending in the vertical direction by the magnetic force generated by the magnet 17, so that the probe unit 2 is used. Can be attached at a predetermined height position on the peripheral surface of the metal tube P. In this configuration, unlike the conventional moving mechanism, a chain for pressing the carriage against the peripheral surface of the metal pipe P becomes unnecessary, so that the chain comes into contact with the peripheral surface of the metal pipe P and the traveling resistance of the carriage is generated. There is no risk of doing so. Therefore, the probe holder 5 holding the probe 6 can smoothly travel in the circumferential direction of the metal tube P.

Further, since the detection unit 2 is equipped with a motor 9, it can travel by itself based on a command from the control box 3. Therefore, for example, when the traveling direction of the detection unit 2 is switched in the opposite direction, the detection unit 2 can be easily switched to travel in the opposite direction by operating the direction switching SW22.

Further, in the above embodiment, by detecting the rotation angle of the wheel 7 by the rotary encoder 8 described above, the position of the probe unit 2 traveling in the circumferential direction of the metal tube P in the circumferential direction can be accurately determined. It is possible to detect. This makes it possible to associate the ultrasonic signal data received by the probe 6 with the position data in the circumferential direction.

Further, in the above embodiment, the magnets 17 abut on the pair of metal discs 7a of the wheels 7 to form a magnetic field that holds the pair of metal discs 7a on the peripheral surface of the metal tube P. As a result, the pair of metal discs 7a of the wheels 7 can roll along the peripheral surface of the metal tube P in a state of being attracted to the peripheral surface of the metal tube P. In this structure, the magnetic force generated by the magnet 17 acts on the peripheral surface of the metal tube P via the pair of rolling metal disks 7a, so that the magnet 17 rubs against the peripheral surface of the metal tube P to cause the detection unit. It is possible to prevent the running resistance of 2 from increasing.

In the probe unit 2 including the probe moving device of the above embodiment, a magnet 17 made of a permanent magnet is provided on each wheel 7, but the present invention is not limited to this. If the magnet 17 can generate a magnetic force that presses the plurality of wheels 7 in the direction of contacting the peripheral surface of the metal tube P, any arbitrary such as the probe holder 5 and the axle 12 is separated from the wheels 7. It may be provided in a place. In that case, as the magnet 17, not only a permanent magnet but also an electromagnet can be adopted.

Further, in the above embodiment, the first wheel 7 and the second wheel 7 arranged at positions on both sides of the metal tube P in the probe holding portion 10 in which the probe 6 is held in the circumferential direction are They are individually driven by the first motor 9A and the second motor 9B, and generate a large propulsive force in the circumferential direction X on both sides of the metal tube P in the probe 6 in the circumferential direction. As a result, even if the attractive force of the magnet 17 is large, the probe unit 2 can be smoothly moved in the circumferential direction of the metal tube P. For example, by giving the same electric pulse signal to the first motor 9A and the second motor 9B from the motor control unit 26a of the control box 3 and driving the motors 9A and 9B in synchronization with each other, a large propulsive force is surely obtained. It is possible.

Further, in the above embodiment, the tactile unit 2 includes the holder moving portion 11, so that when the tactile unit 2 is removed from the peripheral surface of the metal tube P, the holder moving portion 11 is a magnet 17. By moving the probe holder 5 in a direction in which the wheel 7 moves away from the peripheral surface of the metal tube P against the magnetic force, the probe unit 2 can be easily separated from the peripheral surface of the metal tube P. ..

Further, in the above embodiment, since the holder moving portion 11 has the pressing member 11a and the operating member 11b, when the detection unit 2 is removed from the peripheral surface of the metal tube P, the pressing member 11a is removed from the metal tube P. The operating member 11b can apply a pressing force to press the peripheral surface of the pressing member 11a and the reaction force of the pressing force to the probe holder 5 in a state of being in contact with the peripheral surface of the probe holder 5. is there. As a result, the probe holder 5 can be moved in a direction away from the peripheral surface of the metal tube P, and as a result, the probe unit 2 can be easily separated from the peripheral surface of the metal tube P.

In the above embodiment, the wheel 7 is described as an example of the rolling member, but the present invention is not limited to this, and the metal pipe P can roll in the circumferential direction. If there is, it can be adopted as a rolling member of the present invention. For example, a caterpillar or a columnar roller can also be adopted as the rolling member of the present invention.

1 Anomaly detection device 2 Detective unit 3 Control box 4 Display unit 5 Detective holder 6 Detective 7 Wheels 8 Rotary encoder
9 Motor 10 Detector holding part 11 Holder moving part 12 Axle 17 Magnet

Claims (3)

A probe that moves a probe that transmits and receives ultrasonic waves to a metal tube in the circumferential direction in order to detect a defect that has occurred in a metal tube that is erected on the ground so as to extend in the vertical direction. It ’s a mobile device,
A probe holder having a probe holding portion for holding the probe, and a probe holder.
The metal on the peripheral surface of the metal tube with respect to the probe holder so that the probe holder is moved in the circumferential direction of the metal tube in a posture in which the probe faces the peripheral surface of the metal tube. Multiple rolling members mounted so that they can roll in the circumferential direction of the pipe,
A magnet that generates a magnetic force that presses the plurality of rolling members in a direction in which they come into contact with the peripheral surface of the metal tube.
A driving unit for giving a rotational driving force for rolling the plurality of rolling members in the circumferential direction of the metal tube to the rolling member,
It is provided with a holder moving portion for moving the probe holder in a direction in which the rolling member moves away from the peripheral surface of the metal tube against the magnetic force generated by the magnet .
The probe holding portion has a configuration in which the probe is held in direct contact with the peripheral surface of the metal tube.
The plurality of rolling members include a first rolling member and a second rolling member arranged on both sides of the probe holding portion in the circumferential direction.
The drive unit includes a first drive unit that rotationally drives the first rolling member, and a second drive unit that rotationally drives the second rolling member independently of the first drive unit.
The first rolling member and the second rolling member are arranged so as to sandwich the probe holding portion from the front and back in the circumferential direction.
The holder moving part
A pressing member that is movably attached to the probe holder in the normal direction of the peripheral surface of the metal tube and can be displaced between a position that abuts on the peripheral surface and a position that separates from the peripheral surface. ,
By applying a pressing force that presses against the peripheral surface of the pressing member and applying a reaction force of the pressing force to the probe holder, the probe holder is moved away from the peripheral surface of the metal tube. With the operating member to move
Have and
The operating member has a handle and an arm, and has a handle and an arm.
The arm is swingably attached to the probe holder, the handle is attached to one end of the arm, and the pressing member is link-coupled to the other end of the arm.
Detector moving device. Further, a rolling member rotation angle detecting unit for detecting the rotation angle of the rolling member is provided.
The probe moving device according to claim 1. Each of the plurality of rolling members includes a pair of metal disks that are separated from each other in the axial direction of the rolling member and can roll in the circumferential direction of the metal tube.
The magnets are arranged between the pair of metal disks, and by abutting each of the pair of metal disks, a magnetic field for holding the pair of metal disks on the peripheral surface of the metal tube is formed.
The probe moving device according to claim 1 or 2.

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