JPH0621782B2 - Pipe inspection device - Google Patents

Description

Description: BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a pipe inspection device, and more particularly to a device for inspecting the wall thickness of a pipe in various plants and a device for positioning the pipe.

[Prior Art] Generally, in pipes used in various plants, the inner pipe thickness may decrease due to corrosion caused by the fluid flowing inside or the influence of collision of the fluid. Leaving such a state for a long time causes leakage of internal fluid, which is a major problem from the viewpoint of preventive maintenance. It is necessary to inspect the wall thickness of the curved portion using a destructive inspection method or the like.

If the pipe to be inspected is at a high place, a temporary scaffold is built around this pipe, and the inspector can detect the ultrasonic flaw detector from the outside of the pipe on this scaffold. The inspection work was performed by putting a child etc. on the tube surface.

[Problems to be Solved by the Invention] However, in the conventional inspection device, a temporary scaffold is constructed along a pipe to be inspected, and an inspector positions the inspection device on the scaffold, and then the inspection work is performed. Therefore, there is a drawback that the time required for the inspection is long, the work efficiency is low, and the cost required for this is high.

Further, when the pipe is located at a high place, the inspection work of the pipe must be carried out at a high place, which is disadvantageous in that it is dangerous.

Then, this invention was made | formed in order to solve the said subject, and an object of this invention is to provide the piping inspection apparatus which can position an inspection apparatus safely, without requiring a temporary scaffold.

[Means for Solving the Problems] In order to achieve the above-mentioned object, the present invention has an arc-shaped guide rail positioned on the outer periphery of a pipe to be inspected, and moves along the guide rail, Of the thickness of the guide rail and the inspection equipment for detecting the deviation of the axis of the guide rail and the axis of the pipe, and the axis of the guide rail according to the deviation. And a positioning mechanism for positioning.

In addition, the positioning mechanism is provided on the manipulator that allows the movable table to move in the directions of three orthogonal axes, and the mounting table on which the guide rail is mounted to be rotatable, and the inclination of the mounting table can be adjusted. It is composed of a radiation-transmissive mechanism that is variable.

[Operation] Since the pipe inspection device includes the radiation transmission scanning mechanism and the positioning mechanism, the amount of deviation between the axis of the guide rail positioned on the outer periphery of the pipe to be inspected and the axis of the pipe is detected by the inspection device. Will be. Therefore, the guide rail can be positioned via the positioning mechanism in accordance with the amount of deviation, so that the axis of the guide rail is positioned at the axis of the pipe.

Further, since the positioning mechanism is composed of a manipulator and a radiation transmissive mechanism, and the radiation transmissive mechanism is provided on the moving table of the manipulator which is movable in three orthogonal directions, the guide is provided according to the amount of deviation. The mounting base on which the rail is mounted can be moved, swung, or tilted in three orthogonal directions, and the axis of the guide rail can be reliably positioned at the axis of the pipe.

[Embodiment] A preferred embodiment of the present invention will be described with reference to the accompanying drawings.

In FIG. 1 and FIG. 2, reference numeral 1 denotes a pipe inspection device mounted on a traveling carriage 4 or the like equipped with a swivel swivel table 2 and a beam 3 that can be raised and lowered. In addition to having an arc-shaped guide rail 6, the guide rail 6 is moved along the guide rail 6 to inspect the wall thickness of the pipe 5 and an inspection for detecting a deviation amount between the axis of the guide rail 6 and the axis of the pipe 5. Radiation transmission (R
T) The scanning mechanism 8 and the guide rail 6 depending on the amount of deviation.
It mainly comprises a positioning mechanism 9 for positioning the shaft center of the above with the shaft center of the pipe 5. The pipe to be inspected is a horizontal pipe.

As shown in FIG. 3, the guide rail 6 of the RT scanning mechanism 8 is formed in an arc shape so as to be located on the outer circumference of the pipe 5 to be inspected, and is connected to the positioning mechanism 9 at an appropriate position on the outer circumference. A connecting base 10 is attached. In addition, on the inner and outer circumferences of the guide rail 6, along the inner and outer circumference thereof, the flange 1
1 is provided. Three sets of guide rollers 12 are provided so that the flange 11 can serve as a guide surface and can be rotatably moved so as to sandwich the guide rail 6 at appropriate intervals. These guide rollers 12 are supported by a swivel base 14 via support legs 13, respectively, and the swivel base 14 is positioned on the inner peripheral side of the guide rail 6. Furthermore, the central support leg 1
3 is provided with a turning air pulse motor (not shown), and a pinion 16 attached to the rotating shaft of the turning air pulse motor is attached to the rack along the circumferential direction on the inner circumference of the flange 11. 15, the swivel base 14 moves the guide roller 12 by the drive of the motor.
It is configured to turn along the guide rail 6 via.

The inspection device 7 of the RT scanning mechanism 8 is composed of an X-ray generator 17 for generating X-rays and a line sensor 18 for receiving the X-ray generator 17. The X-ray generator 17 is the swivel base 1 described above.
The line sensor 18 is mounted at one end from the center of 4 through the slide base 19, and the line sensor 18 is mounted at the other end of the swivel base 14 so as to face the space and be separated by a predetermined distance, and is emitted from the X-ray generator 17. The X-rays passing through the guide rail 6 are received by the receiving portion of the line sensor 18. The X-rays pass through the axis of the guide rail 6, and even if the swivel base 14 turns, the X-rays always pass through the axis of the guide rail 6. The slide base 19 is provided on a slide rail 20 mounted along the longitudinal direction of the swivel base 14, and a slide air pulse motor 21 mounted at one end of the swivel base 14 slides a slide rail via a feed screw 22. 20 is configured to slide on.

Further, as shown in FIGS. 4 and 5, the positioning mechanism 9 is provided with a manipulator 24 that allows the movable table 23 to move in the directions of three orthogonal axes, and the guide rail 6 provided on the movable table 23. And an RT movable mechanism 26 that allows the mount 25 to which the connecting base 10 is attached to be rotatable and the inclination of the mount 25 to be variable. As a coordinate system for the positioning mechanism 9, as shown in FIG. 6, the axial direction of the pipe 5 to be inspected is the Z axis, the horizontal direction perpendicular to this is the X axis, and the vertical direction perpendicular to these two axes is the Y axis. As an axis
The turning coordinates around the Z axis, the X axis, and the Y axis are set in the order of θz,
Let α and β. The three axes in the manipulator 24 are the Z axis, the X axis, and the Y axis, and the manipulator 24 includes three arms, that is, a Z axis arm 27, an X axis arm 28, and a Y axis arm 29.

As shown in FIGS. 4 and 7, the Y-axis arm 29 has a predetermined vertical length, and the center of the rear portion is supported by the support body 30. A Y-axis drive unit 31 is provided above the Y-axis arm 29, and a Y-axis linear guide unit 32 is provided below the Y-axis arm 29 along the longitudinal direction of the Y-axis arm 29. There is. This Y-axis linear guide section 32
, One end of an X-axis arm 28 having a predetermined length is attached at a right angle, and the Y-axis drive unit 31 drives the X-axis arm 28 to move along the Y-axis linear guide unit 32. The movement is designed to allow minute movement. Further, the X-axis arm 28 is provided with an X-axis drive section 33 at the other end, and an X-axis linear guide section 34 is provided at an upper portion along the longitudinal direction of the X-axis arm. A rear portion of the Z-axis arm 27 having a predetermined length is attached to an upper portion of the X-axis linear guide portion 34 so that the X-axis arm 28 and the Z-axis arm 27 are perpendicular to each other in the horizontal direction. The Z-axis arm 27 is configured to move along the X-axis linear guide section 34 by the drive of the X-axis drive section 33, and the movement thereof enables a minute movement. Further, as shown in FIGS. 5 and 8, the Z-axis arm 27 is provided with the Z-axis drive unit 35 at the other end, and the Z-axis linear guide unit 36 is provided at the upper portion of the Z-axis arm 27.
It is provided along the longitudinal direction of 7. The movable table 23 is attached to the upper portion of the Z-axis linear guide portion 36,
The movable base 23 is configured to move along the Z-axis linear guide portion 36 by the drive of the shaft drive portion 35, and the movement thereof enables a minute movement.

A bottom stand 37 of the RT flexible mechanism 26 is attached to the moving stand 23. As shown in FIG. 9, this bottom stand 37 is provided with a cylindrical rotary gear 38, and an RT turntable 40 is rotatably supported via a bearing 39. The RT swivel base 40 is mounted with a servomotor 41 with a speed reducer capable of rotating in the forward and reverse directions, and a spur gear 43 mounted on a rotary shaft 42 of the motor is attached to the rotary gear 3 described above.
It is designed to mesh with 8. The RT swivel base 40 is configured to swivel by the drive of the servomotor 41 with the speed reducer for swiveling, and the swiveling enables a minute swiveling. Further, as shown in FIGS. 4 and 5, on the RT swivel base 40, a servomotor 44 with a speed reducer for tilting capable of forward and reverse rotation is mounted, and a shaft 46 is supported by a bearing 45. Install. At the center of the shaft 46, that is, at the center of the RT swivel base 40, a mounting base 25 for mounting the connecting base 10 of the manipulator 6 is provided. A gear 47 is provided at one end of the shaft 46. The gear 47 is adapted to mesh with a worm gear 49 mounted on a rotary shaft 48 of the tilting reduction gear-equipped servomotor 44, and the inclination of the mounting base 25 is about ±± via the shaft 46 when the motor 44 is driven. It is configured to be variable by 15 °.

Further, as shown in FIG. 4, a rotating mechanism 50 is provided on a support 30 that supports the pipe inspection device 1 (Y-axis arm 29 of the manipulator 24), and one end of a supporting portion 51 of the rotating mechanism 50 is provided. It supports the Y-axis arm 29. The support portion 51 is rotatably supported via a bearing 52, and a handle 53 is provided at the other end, and the handle 53 is configured to rotate the Y-axis arm 29 about the support portion 51. Has been done. A fixed arm 55 is integrally provided on the boss portion 54 of the handle 53 along the support body 30, and a fixed hole 56 is formed at the tip of the fixed arm 55. A hole 58 is formed in the flange portion 57 of the support body 30 so as to fit into the fixing hole 56, and the fixing pin 59 is fitted into the hole 58 through the fixing hole 56, so that the handle 53 is fixed. The Y-axis arm 29 of the manipulator 24 is fixed so as to be fixed. Further, when the Y-axis arm 29 is rotated ± 90 °, a hole (not shown) that matches the fixing hole 56 of the fixing arm 55 is formed in the flange portion of the support member, and the Y-axis arm 29
Is configured to be fixed at a position rotated by ± 90 °. In other words, the angle of the Y-axis arm 29 can be changed by forming a hole at an arbitrary position of the flange portion 57 of the support body 30. Although the handle 53 is used to drive the main rotating mechanism 50, other actuators (hydraulic pressure, pneumatic pressure, electric) can be used as a matter of course.

Next, the operation of this embodiment will be described.

To inspect the wall thickness of the pipe 5 to be inspected by the pipe inspection device 1, as shown in FIGS. 1 and 2, the pipe inspection device 1
Is mounted on a traveling carriage 4 equipped with a rotatable table 2 and a beam 3 which can be raised and lowered. Then, the guide rail 6 of the pipe inspection device 1 is positioned on the outer periphery of the pipe 5 to be inspected by the turning table 2 and the beam 3 of the traveling carriage 4 and inspected with the axis of the guide rail 6 of the pipe inspection device 1. Positioning is performed so that the axis of the pipe 5 coincides (centers).

For the positioning, first, the output of the X-ray generator 17 of the inspection device 7 is minimized, X-rays are emitted from the output, and the line sensor 18 receives the X-rays. The swivel air pulse motor is driven so that the X-ray becomes horizontal, and the swivel base 14 of the RT scanning mechanism 8 swivels along the guide rail 6 via the guide roller 12, thereby positioning the swivel base 14. Will be done.

Next, when the guide rail 6 is inclined, the output in the Z-axis direction becomes a curve as shown in FIG.
As shown in the figure, the tilting speed servomotor 44 is driven so as to be substantially straight, the tilt of the guide rail 6 is corrected through the mount 25, and the Z axis is centered. .

After that, the Y-axis drive unit 31 is driven to drive the guide rail 6
While the (X-axis arm 28) is moved vertically along the Y-axis direction, the output of the X-ray generator 17 is set to a predetermined value and the line sensor 18 produces a peak Y ₁ , as shown in FIG. Calculate Y ₂ . These peaks _Y 1, the spacing between _{Y 2 l} 1, _{l 2} are equal position _{Y 0} is the axial center of the pipe 5, calculated the position _{Y 0,} by driving the Y-axis driving unit 31 based on the calculation Then, the guide rail 6 is moved, and the centering of the Y axis is performed.

Next, the X-axis drive unit 33 is driven to drive the guide rail 6 (Z
After moving the axial arm 27) along the X-axis direction, RT
The swivel base 14 of the scanning mechanism 8 is swung about ± 15 ° by the swiveling air pulse motor. Then, when the pipe 5 is displaced to the left, as shown in FIG. 13, and when displaced to the right, as shown in FIG. 14, the output of the line sensor 18 appears as a large curve. Therefore, as shown in FIG. 15, the position where the change rate of the output of the line sensor 18 is the smallest value is the center of the pipe 5, the position is calculated, and the X-axis drive unit 33 is set based on the calculated position. The guide rail 6 is driven to move, and the X-axis is centered.

Next, the Z-axis drive unit 35 is driven to move the guide rail 6 (moving table 23) along the Z-axis direction at about three locations A, B, C, and the output of the line sensor 18 at each location is obtained.
Then, if the axis of the pipe 5 and the straight line connecting the three points A, B, and C have a deviation of an α angle, the output of the line sensor 18 appears as a curve as shown in FIG. Calculate the slope α. Then, the servomotor 44 with a speed reducer for tilting is driven by the amount of deviation of the α angle, the amount of deviation of the α angle is corrected, and the α axis is centered.

Next, after the swivel base 14 of the RT scanning mechanism 8 is swung 90 ° by the swiveling air pulse motor, the Z-axis drive unit 35 is driven to move the guide rail 6 (moving base 23) along the Z-axis direction by 3 times. The positions a, b, and c are moved to obtain the output of the line sensor 18 at each position. Then, if there is a β-angle deviation between the axis of the pipe 5 and the straight line connecting the three locations a, b, and c, the first
As shown in FIG. 7, since the output of the line sensor 18 appears as a curve, this slope β is calculated. Then, the servomotor 41 with a speed reducer for turning is driven by the shift amount of the β angle, the shift amount of the β angle is corrected, and the β axis is centered.

In this way, each Z-axis, X-axis is determined according to the amount of deviation between the axis of the guide rail 6 of the pipe inspection device 1 and the axis of the pipe 5 to be inspected.
By performing the centering of the axis, the Y axis, the α axis, and the β axis, the axis of the guide rail 6 and the axis of the pipe 5 are reliably positioned concentrically, and the pipe inspection device is installed. The positioning of No. 1 is performed, and the X-ray emitted from the X-ray generator 17 passes through the axis of the pipe 5 and is received by the receiving unit of the line sensor 18. Therefore, since the pipe inspection device 1 is positioned by the positioning mechanism 9, a hypothetical scaffolding for positioning is unnecessary, the risk of working in high places can be avoided, and the positioning can be performed safely and easily. .

Then, after positioning, the turning air pulse motor is driven so that the X-rays from the X-ray generator 18 become horizontal, and then adjustments are made to match the inspection device 7 to the pipe 5 to be inspected. In this adjustment, the slide base 19 is slid on the slide rail 20 by the slide air pulse motor 21 via the feed screw 22, and the X-ray generator 17 is moved and adjusted. Therefore, after the pipe inspection device 1 is positioned, the preparation is completed by adjusting the inspection device 7 to the pipe 5 to be inspected.
Thus, the wall thickness of the pipe 5 can be inspected. Also,
Since the inspection device 7 inspects the wall thickness of the pipe 5 using X-rays, as shown in FIG. 3, even if the pipe 5 is covered with a heat insulating material or the like 60, the meat can be easily laid in a non-contact state. The thickness can be inspected.

Further, since the support body 30 that supports the pipe inspection device 1 is provided with the rotation mechanism 50, the inspection device can be adjusted to ± 9.
It will be fixed at the position rotated by 0 °. That is,
Since the hole 58 that matches the fixing hole 56 of the fixed arm 55 of the rotating mechanism 50 is formed on the flange portion 57 of the support 30 at the position where the inspection device 1 is rotated ± 90 °, the inspection device 1 is rotated ± 90 °. The inspection device is rotated ± 90 ° by rotating the fixing hole 56 and the hole 58 of the flange portion 57 of the support 30 to fit the fixing pin 59 into the hole 58 through the fixing hole 56. Fixed by. In this way, by fixing the inspection device 1 at the position rotated by ± 90 °, the pipe inspection device 1 can be connected to the horizontal pipe even if the pipe 5 to be inspected is a vertical pipe as shown in FIG. It can be inspected under the same conditions.

[Effects of the Invention] In summary, according to the present invention, the pipe inspection apparatus includes the radiation transmission scanning mechanism and the positioning mechanism, and the axis of the guide rail is deviated from the axis of the pipe by the inspection device of the radiation transmission scanning mechanism. Since the guide rail shaft center is positioned on the pipe shaft center via the positioning mechanism according to the amount of deviation, the hypothetical scaffolding for positioning is unnecessary, and work in high places is not required. It has an excellent effect that danger can be avoided and positioning can be performed safely.

[Brief description of drawings]

FIG. 1 is a front view showing an embodiment of the present invention, and FIG.
FIG. 3 is a side view of the drawing, FIG. 3 is a front view showing a radiation transmission scanning mechanism of the present invention, FIG. 4 is a front view showing a positioning mechanism of the present invention, FIG. 5 is a side view of FIG. 4, and FIG. The figure which shows the coordinate system of the positioning mechanism of this invention, FIG. 7 is the schematic which shows the manipulator of this invention, FIG. 8 is the top view of FIG. 7, and FIG. 9 is one which shows the radiation transparent mechanism of this invention. Partial sectional views, FIGS. 10 to 17 are views showing the relationship between the output of the line sensor and the movement of the radiation transmission scanning mechanism, and FIG. 18 is a side view showing a modified example of the present invention. In the figure, 5 is piping, 6 is a guide rail, 7 is inspection equipment, and 8
Is a radiation transmission scanning mechanism, 9 is a positioning mechanism, 23 is a moving table, 24 is a manipulator, 25 is a mounting table, and 26 is a radiation transmitting mechanism.

Claims (2)

[Claims] 1. An arc-shaped guide rail located on the outer periphery of a pipe to be inspected, which is moved along the guide rail to inspect the wall thickness of the pipe and the axial center of the guide rail and the axial center of the pipe. A radiation transmission scanning mechanism having an inspection device for detecting the deviation amount of the guide rail, and a positioning mechanism for positioning the axis of the guide rail to the axis of the pipe in accordance with the deviation amount. Inspection device for piping. 2. A manipulator in which the positioning mechanism allows the movable table to move in the directions of three orthogonal axes, and a mounting table mounted on the movable table for mounting the guide rail, and the mounting table being rotatable. The pipe inspection device according to claim 1, wherein the pipe inspection device comprises a radiation-transmissive mechanism that can freely change the inclination of the pipe.