JP3007474B2 - Ultrasonic inspection method and apparatus - Google Patents

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The disclosed technology relates to a flaw detection inspection method for mechanical devices using ultrasonic waves, and a technique of the apparatus, and particularly to an ultrasonic flaw detection for a portion having a complicated three-dimensional free-form surface shape. The present invention relates to an inspection method and an apparatus technology.

[0002]

2. Description of the Related Art As is well known, with the prosperity of civil society, the industry has been highly developed, and further development momentum is boundless.

[0003] Various types of equipment that support the prosperity of civil society and the development of the industrial economy have not only their original functions when they are newly installed, but also when they are used over a long period of time. It is necessary to maintain it reliably.

By the way, usually, most of the equipments are composed of a plurality of mechanical parts in order to perform many complicated functions with the progress of science and technology, and therefore, the assembly structure is three-dimensionally complicated. In order to maintain the function sufficiently, periodic and irregular function inspections are indispensable not only at the time of new installation, but also at the time of operation. There may even be mandatory regulations.

[0005] These equipment and devices are naturally disassembled and disassembled into individual parts or component units (hereinafter collectively referred to as “parts”) at the time of regular or irregular function inspection during operation, as well as when newly installed. It is desired that the maintenance and inspection be carried out every time the call is made.

However, in the case of parts having a complicated assembly and engagement mechanism structure, the inspection by disassembly is extremely complicated and economically unreasonable. In some cases, non-destructive inspection has been widely used because the disassembly inspection itself may impair the function of the component.

[0007] In recent years, in combination with the fact that many equipment and devices are metal products, etc., for example, Japanese Patent Application Laid-Open No. 53-14 / 1979.
Non-destructive inspection methods using ultrasonic waves as disclosed in Japanese Patent No. 3293, JP-A-57-27691, and JP-A-62-21014 have been increasingly used.

In the case where the parts of the equipment and devices have a simple flat surface or a curved surface such as a pipe, the inspection system such as the ultrasonic flaw detection is simple and requires little skill. However, recently, equipment such as automobiles, ships, aircraft, and power generation facilities have complicated three-dimensional free-form surfaces such as turbine blades, pump casings, main steam pipe joints, large valves, and nozzles. The form of the shape is widely used. Among the equipment used in nuclear facilities, medical facilities, various research laboratories, etc.,
There is a strong demand for the maintenance of these complex shaped parts over time as nearly as possible.

Therefore, for these parts, etc.,
Due to the fact that overhaul inspection cannot be performed easily,
Ultrasonic flaw detection technology for parts having a shape of three-dimensional free-form surface is required, and the flaw detection data is used at the later stage of use of the equipment or for the purpose of research on extending the life of other identical or similar equipment. Therefore, it is also required to be recorded and retained as backup data.

[0010]

However, the ultrasonic flaw detection technique for such a component having a complicated three-dimensional free-form surface has already been established and put to practical use for the above-mentioned component having a simple flat or curved surface. There are essential disadvantages that cannot be accommodated by the ultrasonic testing system.

In the ultrasonic inspection system of the conventional type, a defect image of the inside and outside of the part is superimposed as an image on a part of the apparatus, that is, a screen of the inspection apparatus showing the shape of the inspection object. The echo reflected from the shape of the inspection object and the echo from the defective portion cannot be identified because they cannot be displayed, that is, when there is no image of the inspection object, or
Even if there is an image, if there is corrosion on the outer surface or if the part to be inspected is not manufactured according to the displayed image, the optimal flaw detection conditions cannot be determined unless the shape of the inner and outer surfaces of the part is known. This is because, as a result of flaw detection using ultrasonic waves, it was not possible to definitely determine whether the obtained echo was an echo from the inner surface of the inspection object or an echo from a defective portion.

Here, the flaw detection conditions specifically include, for example, a flaw detection approach position, a scanning direction, a refraction angle of the probe, a use frequency of the probe, a vibration dimension,
There are orientation and scanning speed.

To meet these needs, an ultrasonic flaw detection system has been developed for components having a three-dimensional free-form surface using laser technology and distance measurement technology, making full use of computer technology. As is well known, there is a problem that the primary needs cannot be sufficiently satisfied.

That is, FIGS. 3 and 4 show, for example, bubbles and delamination inside the deep wall of the part 1 of the inspection object having a complicated three-dimensional free-form surface such as a turbine blade. A system 2 for performing ultrasonic inspection for defective portions a, b, and c is shown as an inspection mode,
As shown in FIG. 3, first, the laser distance measuring device is attached as a probe 3 to a robot hand 4 to measure the surface shape of the part 1 to be inspected in the air. Is driven by a six-axis synchronous driving device 5,
Under the control of the personal computer 6, the outer surface shape of the component 1 to be inspected is measured, and the measured data is processed by the minicomputer 7.

Next, ultrasonic inspection of defective parts a, b, and c with respect to the component 1 of the inspection object is performed underwater through the ultrasonic inspection device 8.

At this time, the movement of the probe 3 is determined by calculating based on the measurement data of the external shape of the part 1 of the inspection object obtained by the probe 3 as the laser measuring device. The control operation is performed by the minicomputer 7.

Therefore, as shown in FIG. 4, the outer shape of the upper half surface of the component 1 to be inspected is displayed on the screen 10 of the minicomputer 7.
Is displayed as a rectangular two-dimensional image 10 ', and defect images a', b ', and c' corresponding to the defective portions a, b, and c are shown in the image 10 'of FIG. To do.

In FIG. 3, reference numeral 9 denotes an image analyzer for performing an image analysis based on data from the ultrasonic flaw detector 8 and data from the synchronous driving device 5.

However, according to the conventional system described above,
In the ultrasonic inspection method for the internal defect portions a, b, and c of the thick part of the component 1 of the inspection object having the shape of the three-dimensional free-form surface, the inside of the thickness of the component 1 of the inspection object is The three-dimensional flaw detection for the defective portions a, b, and c is basically scanning by the probe 3 performed based on the shape measurement of the free-form surface outside the part 1 of the inspection object. Therefore, actually, the display screen 10 'of the inspection object as shown in FIG. 4 is a two-dimensional plane display in which the inside of the thickness is not displayed, and is not a three-dimensional display.

Therefore, the part 1 of the inspection object 3
Defects a, b, and c inside the thickness of the three-dimensional overall shape
There is a disadvantage that measurement of relative position, inclination and size of and data analysis by the probe 3 cannot be performed.
Also, since the image 10 'is also a monochrome display,
There is a problem that the discrimination performance is poor.

Since the display of the image 10 'of the flaw detection result is a rectangular developed two-dimensional image as shown in FIG. 4, the three-dimensional inner and outer parts of the component 1 to be inspected are displayed. However, there is also a disadvantage that the measurement of the important inner surface and the back surface shape having the defective portions a, b, and c is not performed, regardless of the outer surface.

From the point of dual operability that the shape measurement is performed in the air and the flaw detection of the defect is performed in the water, the working environment changes at the time of the shape measurement and the flaw detection, and the parts of the object to be inspected are changed. The mounting and dismounting of the device 1 is extremely complicated, and the necessary adjustment at that time is complicated, inconvenient, and inefficient.

In the case where the immersion state of the part 1 of the object to be inspected in water is not preferable for the flaw detection, and the spraying of the water jet before and after the part 1 of the object to be inspected is not preferable. However, there is a drawback that replacement processing is extremely difficult.

In the above-described conventional mode, since the ultrasonic inspection of the component 1 to be inspected is performed by immersion in water, the component to be inspected becomes a ceramic product or a small product in connection with the container. There is an inconvenience that the degree of freedom of handling is limited.

In addition, since the shape measurement is not performed on the inner and outer surfaces of the part 1 of the inspection object, the two-dimensional image 10 'on the screen 10 is not displayed three-dimensionally. Therefore, there is a problem that it is not possible to immediately examine the flaw detection conditions suitable for the three-dimensional shape of the component 1 to be inspected because the ultrasonic propagation path cannot be examined.

Furthermore, since the data of the measurement result cannot be displayed on the screen 10 in real time, the defective portions a, b,
There is a disadvantage that the identification of c is not easy and the processing operation is not efficient.

Further, when detecting flaws a, b, and c, as described above, discrimination between echoes from the inner surface shape and back surface shape of the component 1 to be inspected and echoes from the original defective portions a, b, and c is performed. There was an unfavorable neck that was difficult.

Further, since beam irradiation is performed by spot-like coordinate extraction when performing shape measurement using a laser or flaw detection using the ultrasonic probe 3, the entire area can be covered simultaneously due to the beam size. If there is no negative point and the part 1 of the object to be inspected has fine irregularities, the shape measured by the laser does not match the shape required for ultrasonic flaw detection, and the position and direction of the probe 3 cannot be determined. There is no inconvenience, and it is necessary to correct the echo value obtained in addition to the spot-like coordinate extraction, resulting in a problem that more accurate processing cannot be performed.

Further, the use of a six-axis synchronous driving device for the driving device 5 has a problem in that the degree of freedom of scanning of the probe 3 and the degree of freedom of the scanning area are reduced.

As described above, the rectangular image 10 is displayed on the screen 10 for the part 1 of the inspection object as described above.
There is also a negative point that performing the display of the symbol 'as a two-dimensional display may make it impossible to three-dimensionally identify and grasp the ultrasonic echo for flaw detection.

[0031]

SUMMARY OF THE INVENTION A first object of the invention of the present application is to solve the problem of ultrasonic flaw detection for a part of an object to be inspected having a complicated three-dimensional free-form surface based on the above-mentioned prior art. An excellent ultrasonic flaw detection method that can accurately grasp a defective portion even when flaw-detecting the part with ultrasonic waves, and is beneficial to the application of functional maintenance technology in the mechanical equipment industry and the like, and the method. To provide a device for direct use.

Another object of the invention of the present application is to provide an ultrasonic flaw detector capable of displaying a defect part of a part of an inspection object having a complicated three-dimensional free-form surface three-dimensionally on a two-dimensional screen. It is to provide an inspection method and an apparatus.

It is another object of the present invention to provide an ultrasonic inspection method and apparatus capable of displaying the defective portion in real time.

Still another object of the invention of this application is to provide an ultrasonic flaw detection inspection method which can easily handle parts of an object to be inspected,
And to provide a device.

[0035]

SUMMARY OF THE INVENTION In order to solve the above-mentioned problems, the structure of the invention of the present application, which is based on the above-mentioned claims and is used in nuclear facilities and various machine manufacturing factories, for the above-mentioned objects. , Such as bubbles, cracks, peeling, etc. in parts (including unit parts) having a complicated three-dimensional free-form surface built into the equipment, which may damage the function of the equipment over time It is suitable for performing three-dimensional ultrasonic flaw detection for a defect portion in a thick part where there is a possibility of performing the flaw detection. In this case, an ultrasonic flaw detection method for an inspection object having a complicated three-dimensional free-form surface is preferable. (A) scanning the outer surface of the object to be inspected by a scanner having at least three or more LEDs mounted on an ultrasonic probe; and (b) scanning the three or more of the scanner. LED is used as a position detection device (PSD (C) measuring the three-dimensional shape of the inspected object by detecting the outer shape of the inspected object with a camera or a CCD camera, and obtaining shape data representing the shape; Based on the given shape data,
An ultrasonic flaw detection method for a test object having a complicated three-dimensional free-form surface based on determining a flaw detection method, wherein: (a) at least three flaw detection devices Scanning the object to be inspected by a scanner equipped with the above LEDs; and (b) scanning the three or more LEDs of the scanner with the position detecting device (PSD camera or CCD camera). Measuring the three-dimensional shape of the inspection object by detecting the outer shape to obtain shape data representing the shape; and (c) measuring the three-dimensional shape of the inspection object using the ultrasonic probe of the scanner. Obtaining a flaw detection data representing a flaw detection result by flaw detection of a defect portion of the object; and (d) real-time detecting a defect portion in the inspection object based on the shape data and the flaw detection data. The method further includes the steps of displaying the three-dimensional graphic image as a three-dimensional graphic image in another manner. Therefore, the three-dimensional image of the inspected object and the defective part obtained in the step (d) is included. A three-dimensional graphic image as a projected image on a two-dimensional screen on a display screen, and an ultrasonic inspection method for an object to be inspected having a complicated three-dimensional free-form surface, (A) inputting shape data representing a three-dimensional shape of the object to be inspected from a storage device; and (b) flaw-detecting the object to be inspected using an ultrasonic probe. Obtaining a flaw detection data representing a flaw detection result for the defective portion, further comprising: (b1) providing at least three or more LEs to the ultrasonic probe.
Sub-step of scanning the outer surface of the three-dimensional object of the object to be inspected by a scanner equipped with D; (b2) a position detection device (a PSD camera or a CCD camera) which detects the projection light from the LED of the scanner And (b3) detecting the position and orientation of the tip of the probe to obtain the position of the scanner in the input shape data. A sub-step of displaying a three-dimensional graphic image in real time in a three-dimensional manner in association with the image position of the object to be inspected on the screen of the scanner, and (c) based on the shape data and the flaw detection data. hand,
The method further includes the steps of three-dimensionally obtaining a defect portion in the inspection object in real time, and further includes a step of obtaining a defective part, and thus has a complicated three-dimensional free-form surface. An ultrasonic flaw inspection apparatus for an object to be inspected, comprising: (a) an ultrasonic probe on which at least three or more LEDs are mounted, only an outer surface of the object to be inspected,
Or (b) detecting the outer shape of the object to be inspected by a position detection device (a PSD camera or a CCD camera) using the three or more LEDs of the scanner. A means for measuring a three-dimensional shape of the inspection object to obtain shape data representing the shape; and (c) determining a flaw detection method based on the shape data obtained by the means. In another aspect, the present invention provides an ultrasonic inspection apparatus for inspecting an inspection object having a complicated three-dimensional free-form surface, wherein the ultrasonic probe has at least 3
A scanner equipped with at least one LED, means for scanning the object to be inspected with the scanner, means for detecting light projected from the three or more LEDs by the scanner, and Image display means for measuring the three-dimensional outer surface of the object to be inspected based on the output of the object to obtain shape data representing the shape thereof, and the object to be inspected using the ultrasonic probe of the scanner An image display means for obtaining flaw detection data representing the flaw detection result by flaw detection of a flaw portion of the object, and the shape data, and the flaw portion in the inspection target object in three dimensions based on the flaw detection data. Means for obtaining in real time, and another base characterized by including, further, in response to the output from the means for obtaining the image display of the shape data and flaw detection data, the inspection object and the defective portion Three-dimensional positional relationship The display screen includes display means for displaying a three-dimensional graphic image by projecting onto a two-dimensional screen by matching the origin coordinates of the two and the directions of the respective axes on the display screen. An ultrasonic inspection apparatus for an object, which stores shape data representing a three-dimensional shape of the object to be inspected, an ultrasonic probe, and at least three or more of the ultrasonic probe A scanner configured with an LED mounted thereon, means for scanning the three-dimensional outer surface of the object to be inspected by the scanner, means for detecting projection light from the LED of the scanner, Means for detecting the position and orientation of the tip of the probe to obtain the position of the scanner in the input shape data; and flaw detection of the inspection object using the ultrasonic probe. The inspection results of the defect Means for obtaining flaw detection data; means for obtaining a defect portion in the object to be inspected in three dimensions in real time based on the shape data and the flaw detection data; And a means for displaying a three-dimensional image in real time in relation to the position of the child on the image of the object to be inspected.

[0036]

According to the above-mentioned means, functional failures occur during the new installation or the operation over time of the parts of various equipment having a three-dimensional free-form surface which is widely used in various production facilities and the like. The problem of the non-destructive ultrasonic inspection system for internal defects such as bubbles, cracks, and delaminations in complex parts where the influence is large is solved. Complex 3 of parts to be inspected
It is possible to three-dimensionally grasp the mutual positional relationship of the defective part with respect to the three-dimensional shape having the three-dimensional free-form surface, and also sufficiently examine the ultrasonic flaw detection conditions, accurately perform the three-dimensional flaw detection, and furthermore, perform the whole flaw detection inspection. Without changing the inspection environment, the processing means can be remarkably smooth and the flaw detection results can be measured not only in real time, but also visually, and the operation is extremely easy. This data can be sufficiently used as reference data for subsequent maintenance or other similar flaw detection.

[0037]

DESCRIPTION OF THE PREFERRED EMBODIMENTS Embodiments of the present invention will be described below with reference to FIGS. 1, 2, 5, 6, and 7 as embodiments of the present invention. is there.

3 and 4 will be described using the same reference numerals.

FIG. 1 shows an ultrasonic flaw detection system used in the invention of the present application. The ultrasonic inspection system shown in FIG. 2 is used for inspecting an object to be inspected having a complicated three-dimensional curved surface having a complicated three-dimensional curved surface. 1 ″ or 1 ″ ″ in the thick part of the part 1 ′
This is an embodiment used for ultrasonic flaw detection of a defective portion such as a bubble, crack, and peeling.

It should be noted that in FIG.
And the sizes of various measuring devices are schematically deformed for convenience of illustration.

As described above, the outer shape of the complicated three-dimensional free-form surface of the component 1 'of the object to be inspected has a predetermined number of LEDs 11 on the laser beam or the ultrasonic probe 4'. A plurality (three in this embodiment) is arranged, the position and orientation thereof are detected and measured, and a position detecting device (PSD camera or CCD camera) 12 faces the LED 11 and faces the LED 11. The position and orientation of the LED 11 are detected, and the measurement and recording device 16 (sensor processor) measures the thickness of the component 1 ′ of the object to be inspected, measures the inner surface, and captures and records the data. The above-described LED 11 is mounted on the ultrasonic probe 4 ′ to constitute the scanner 18.

By acquiring the position data of the three or more LEDs 11, the tip position and attitude of the ultrasonic probe 4 'of the scanner 18 are detected, and the ultrasonic probe is detected. 4 'is calculated.

The manner of detecting the position and orientation of the LED 11 by the LED 11 and the position detecting device (PSD camera or CCD camera) 12 is not possible to measure the shape by operating a mechanical jig provided with an encoder or the like. However, the measurement using the LED 11 is far more preferable in terms of definition and the like in view of the degree of freedom of scanning and the degree of freedom of the scanning range.

One of the features of the present invention is as follows.
The point is that three or more LEDs 11 for measuring the outer surface shape of the component 1 'of the object to be inspected are attached to the ultrasonic probe 4' to constitute the scanner 18 as an integral unit.
By scanning the component 1 'of the inspection object at 8, the measurement value of the ultrasonic probe 4', the position of the ultrasonic probe 4 'on the component 1' of the inspection object, and The relationship with the posture is required accurately.

When the distance measuring function of the ultrasonic probe 4 'is used, the ultrasonic probe is simultaneously measured while measuring the outer shape of the component 1' of the inspection object using three or more LEDs 11. The shape of the inner surface of the component 1 'of the inspection object can also be obtained using the probe 4'.

When the flaw detection function of the ultrasonic probe 4 'is used, three or more LEDs 11 are used to simultaneously measure the inner and outer shapes of the component 1' of the object to be inspected. Component 1 'of inspection object using acoustic probe 4'
Flaw detection can be performed.

During or accompanying this, the defect generating portion 1 'of the part 1' of the inspection object as shown in FIG.
′, 1 ′ ″ is determined as a storage equivalent of an important inspection flaw detection part which is determined based on already constructed defect data of the past inspection, data based on the experience judgment of the worker, prediction from stress concentration analysis and the like. Input to the computer 15.

Based on the external shape of the part 1 ′ of the object to be inspected and the three-dimensional free-form surface shape such as the thickness and the back surface (inside surface) input to the measurement storage device 14 by the computer 15. A mechanical flaw detection condition (method) for the defect occurrence part 1 ″, 1 ″ ″ of the flaw detection part, such as an ultrasonic wave propagation path and a flaw detection area in the next stage flaw detection, is input and determined by a device (not shown). , Ultrasonic probe 4
′ Is pressed against the outer surface of the component 1 ′ of the object to be inspected with a set pressing force, and the ultrasonic probe 4 ′ is scanned as a touch sensor.

The scanning operation can be performed manually or
The operation by the robot is possible. In the operation by the robot, since the ultrasonic probe 4 ′ is always scanned with the set pressing force, the variation of the pressing data due to the variation of the pressing force can be avoided. Ultrasonic probe 4
By using the direct contact method with the outer surface of the component 1 'of the object to be inspected, flaw detection can be performed on the component 1' of the size-free and large object to be inspected, and the system carried in even in a narrow site can be inspected. In-situ flaw detection becomes possible by using it.

The ultrasonic inspection conditions (method) are determined by the computer 15 on the basis of the shape measurement data of the outer surface including the thickness of the part 1 'of the object to be inspected and the inner surface incorporated in this manner, and according to that. , Manually or
Through the robot control, the ultrasonic probe 4 'performs ultrasonic inspection of the component 1' of the inspection object.

In this case, the computer 15 can input in advance the optimum flaw detection conditions and determination methods based on a database such as acoustic theory, elastic wave analysis, and model experiments.

Then, the computer 15 projects the projected image 2 onto the screen 17 of the external shape of the part 1 ′ of the inspection object.
Unlike the display of a mere appearance image due to the display of a three-dimensional graphic image superimposed and projected on a three-dimensional screen, the part 1 'of the inspection object is three-dimensionally displayed on the screen 17 of the computer 15 shown in FIG. Although the dimensional outer surface shape 17 'is displayed as an image and the defect portion 17 "' ultrasonically inspected by the ultrasonic probe 4 'is superimposed and displayed as a multicolor image,
This superposition is realized by making the origin coordinate of the external shape of the component 1 'to be inspected and the direction of each coordinate axis coincide with those at the time of flaw detection.

In this case, by displaying a three-dimensional graphic image on the two-dimensional screen 17 of the computer 15, the external shape of the part 1 'of the inspection object and the defect part 17''are displayed.
Since the image display of ´ ′ can be associated with the position coordinates and color-coded and displayed in multicolor, the external shape of the part 1 ′ of the inspection object and the relative position of the defective portion 17 ′ ″ In addition, the size and the like can be clearly and stereoscopically identified.

Of course, in this case, both the built-in component 1 'and the defective portion 17''' of the object to be inspected are displayed and recorded separately or both are superimposed, and the next object to be inspected is recorded. It can be used as reference data for defect inspection of a component of an object or ultrasonic inspection of a component of a similar object to be inspected.

Further, the ultrasonic flaw detection and the part 1 of the inspection object are performed.
By performing both measurements in the air, it is possible to avoid changes in the environment of measurement and flaw detection, and to perform measurement and flaw detection in the air for parts that dislike measurement in water.

Since the ultrasonic flaw detection conditions are determined in advance as described above, and since a multicolor three-dimensional graphic image can be displayed in real time, the inside of the part 1 'of the inspection object is illuminated. Inspection can be performed completely, and therefore, the echo based on the external shape of the component 1 ′ of the object to be inspected can be clearly distinguished from the echo of the defective portion 17 ′ ″, and the inspection can be performed completely, completely and flawlessly. .

Next, the operation of one embodiment of the ultrasonic flaw detection method of the present invention will be described with reference to the flowcharts shown in FIGS.

First, in FIGS. 5 and 6, in step 20, the part 1 'of the inspection object is determined. Next, a database stored in the measurement storage device 14 or the computer 15 is searched to determine whether or not the three-dimensional shape of the part 1 ′ of the inspection object determined in step 21 has been measured before. Although it is determined in a step (not shown), if there is measurement data of the shape of the part 1 'of the inspection object, the process proceeds to step 22, where the inspection is performed on the part 1' of the inspection object using ultrasonic waves. When the inspection is completed, in step 23, the component 1 'of the inspection object is inspected.
The defect data 17 ′ ″ is superimposed on the display 17 ′ of the component 1 ′ of the three-dimensional object to be inspected on the screen 17 by combining the shape data and the flaw detection data, and a three-dimensional graphic image is formed. Display as

At this time, each of the shape data and the flaw detection data and / or the synthesized data
Is converted into a data file in a predetermined file format, and is stored as an inspection record in an external storage device (not shown) in step 25, and the inspection record is subjected to a harmfulness evaluation and a pass / fail evaluation of the defective portion 17 '''' in step 26 as necessary. Used for judgment.

If there is no measurement data of the shape of the part 1 'of the inspection object in step 21, the process proceeds to step 27, where the shape of the part 1' of the inspection object is It is determined whether or not the thickness and the like are stored as accurate data by using the CAD system. If the result of the determination is that there is data indicating an accurate shape, step 2 of pattern A is performed.
8, the shape data indicating the correct shape is input to the computer 15 in step 28, and based on the shape data input in step 29, the part 1 ′ of the inspection object is
Occurrence part 1 '', 1 of the important inspection part to be inspected
Determine ''''.

Next, in step 30, the evaluation of the flaw-detectable approach area during the flaw detection inspection is examined using the computer 15, and in step 31, the optimum flaw detection conditions (method) using the ultrasonic probe 4 'are determined. Then, when the flaw detection conditions are determined, the process proceeds to step 22, and thereafter, the above-described steps are executed.

On the other hand, if it is determined in step 27 that there is no accurate data on the shape of the component 1 'of the inspection object, the process proceeds to step 32, where the outer shape of the component 1' of the inspection object is determined. It is determined whether or not the shape data as shown in the drawing can be obtained. If such shape data cannot be obtained, the process proceeds to step 33 of the pattern B, and after performing mechanical simple measurement, the process proceeds from step 34 to Steps 37 and 37 are executed.

In step 32, the part 1 'of the object to be inspected
When the shape data of about the outline drawing of the pattern B is obtained, the steps 34 to 3 of the pattern B are performed based on the shape data.
Execute up to 7.

Steps 34 to 37 are almost the same as steps 28 to 31 of the pattern A, respectively.

When the flaw detection conditions (method) are determined in step 37, the process proceeds to step 38, in which the conditions (range) of the device (structure) required for flaw detection are determined. In step 39, the part 1 of the inspection object
′ Is determined, and in step 40 L
Using the ultrasonic probe 4 'with an ED target, accurate shape data indicating the shape of the inner and outer surfaces of the component 1' to be inspected is obtained. Next, in step 41, the obtained shape data is used by using the obtained shape data. The part 1 ′ of the inspection object is displayed on the screen 17 by 3.
The two-dimensional graphic image is projected and displayed two-dimensionally, and the flaw detection position is determined in detail. Thereafter, the process proceeds to step 22, and the operations of steps 22 to 26 described above are executed.

The embodiment of the invention of this application is not limited to the above-described embodiment. For example, the target work component is not limited to the nozzle, and for example, the pump casing and the main steam pipe may be used. It can be applied to various work parts such as joints and large valves.

Further, in terms of design change, various modes such as a non-contact type ultrasonic probe instead of a direct contact type ultrasonic probe for a component to be inspected can be adopted.

[0068]

As described above, according to the invention of this application, unit equipment used for various complicated equipment such as aircraft, ships, automobiles, and nuclear facilities has a three-dimensional complicated free-form surface. In ultrasonic inspection for non-destructive inspection of structural parts, the shape and internal measurement are combined based on the measurement data, and the three-dimensional shape is projected into a two-dimensional screen in a multi-color system through projection By displaying the original graphic image, not only the outer surface shape of the part to be inspected but also the relative position / posture and size of the defect part with respect to the inner / outer surface shape are displayed together with the image. An excellent effect is obtained in that it is possible not only to grasp the entirety, but also to make clear the relative identification of the disqualified part with respect to the entirety and to measure it in real time.

Therefore, in the ultrasonic flaw detection, an excellent effect that the three-dimensional position of the defective portion in the part of the inspection object can be grasped and the flaw detection can be performed reliably can be achieved.

Further, since the propagation path of the ultrasonic wave can be measured even during the flaw detection, the optimum ultrasonic flaw detection condition and method for the part of the inspection object can be determined. Therefore, an excellent effect that the optimal flaw detection can be performed exactly as set is achieved.

Moreover, by immediately recording the data, it is possible to use the data as a powerful backup data for flaw detection at the later stage of maintenance and ultrasonic flaw detection for similar parts.

Thus, an ultrasonic probe equipped with a laser or LED and a position detecting device (CCD camera,
In addition to the outer shape measurement by the shape measuring device combined with the PSD camera), the ultrasonic thickness measurement can measure not only the outer shape but also the thickness and the inner shape of the inspected object, In the above three-dimensional graphic image display, there is also an excellent effect that relative display of a defective portion can be performed, and scanning and operation of an operator can be directly and accurately performed.

Then, the outer shape measurement and the ultrasonic inspection are performed in the air.
In addition, since the test can be performed in a single environment instead of an environment different from underwater, there is also an advantage that the degree of freedom of flaw detection is remarkably increased without selecting an application condition or the like of an environmentally friendly inspection object.

Therefore, there is also an effect of improving the elasticity that simple flaw detection can be performed without being caught by the size and shape of the inspection object.

Further, the ultrasonic flaw detection data is corrected with respect to the data obtained by measuring the shape of the component of the inspection object, and the above-mentioned three-dimensional graphic image is displayed. The position and orientation can also be measured, whereby the incident direction of the ultrasonic wave becomes clear, and there is an effect that it is not necessary to correct the incident direction by a conventional two-dimensional display or the like.

Further, according to the invention of this application, not only parts constituting equipment in nuclear facilities, medical facilities, and laboratories, but also parts having complicated three-dimensional free-form surfaces in all industrial fields can be accurately inspected. There is also an effect that can be performed.

[Brief description of the drawings]

FIG. 1 shows an ultrasonic flaw detection system 1 of the present invention.
It is a schematic perspective view of an Example.

FIG. 2 is a partial cross-sectional structural view of a part of an inspection object to be applied;

FIG. 3 is an image display inspection object 1 'based on the prior art.
FIG. 3 is a schematic diagram of a system for ultrasonic inspection of parts.

FIG. 4 is a schematic view of a defect display by the system shown in FIG. 3;

FIG. 5 is a flowchart showing a flaw detection inspection method of the system shown in FIG. 1;

FIG. 6 is a flowchart showing a flaw detection inspection method of the system shown in FIG. 1;

FIG. 7 is a schematic perspective view of one embodiment of the invention of this application.

[Explanation of symbols]

 1 'Component of inspection object 4' Ultrasonic probe (touch sensor) 17 Screen a, b, c Defect 11 LED 18 Scanner 12 PCD or CCD camera 17 "Defect 14" Storage device

 ──────────────────────────────────────────────────続 き Continued on the front page (72) Inventor Takamasa Ogata 3-1-1, Higashikawasaki-cho, Chuo-ku, Kobe-shi, Hyogo Kawasaki Heavy Industries, Ltd. Kobe Plant (72) Inventor Hideyuki Hirasawa Higashi-Kawasaki-cho, Chuo-ku, Kobe-shi, Hyogo 3-1-1 1-1 Kawasaki Heavy Industries, Ltd., Kobe Plant (72) Inventor Takaya Misumi 1-1, Kawasaki-cho, Akashi-shi, Hyogo Prefecture Kawasaki Heavy Industries, Ltd., Akashi Plant (72) Inventor Sumihiro Ueda, Akashi-shi, Hyogo Prefecture 1-1, Kawasaki-cho, Akashi Plant, Kawasaki Heavy Industries, Ltd. (72) Inventor Shutake Miki 1-1, Kawasaki-cho, Akashi-shi, Hyogo Prefecture, Akashi Plant, Kawasaki Heavy Industries, Ltd. (72) Inventor, Hiroo Owaki, Akashi, Hyogo Prefecture No. 1-1, Kawasaki-cho, Ichikawa-Kawasaki Heavy Industries, Ltd. Akashi Factory (72) Inventor Harutaka Koike 1-1, Kawasaki-cho, Akashi-shi, Hyogo Kawasaki Heavy Industries, Ltd. Inside the company Akashi factory (72) Inventor Yuji Sugita 1 at 20 Kitakanyama, Odaka-cho, Midori-ku, Nagoya-shi, Aichi Pref.Chubu Electric Power Co., Inc. Chubu Electric Power Co., Inc. Electric Power Research Laboratory Machinery Laboratory (72) Inventor Takaaki Okumura 20-Kitakanyama, Midori-ku, Nagoya-shi, Aichi Chubu Electric Power Co., Inc. Electric Power Engineering Laboratory Mechanical Laboratory (56) References JP-A-2-309251 (JP, A) JP-A-63-9850 (JP, A) JP-A-63-134951 (JP, A) JP-A-3-77057 (JP, A) JP-A-61-286747 (JP, A) JP-A-1-140057 (JP, A) JP-A-61-259169 (JP, A) JP-A-1-292248 (JP, A) JP-A-63-309852 (JP, A) JP-A-63-309853 (JP, A)

Claims (8)

(57) [Claims] 1. An ultrasonic flaw detection method for an object to be inspected having a complicated three-dimensional free-form surface, comprising: (a) a scanning device having at least three or more LEDs mounted on an ultrasonic probe; Scanning the outer surface of the object to be inspected; and (b) detecting the outer shape of the object to be inspected by using the three or more LEDs of the scanner with a position detection device (a PSD camera or a CCD camera). Measuring a three-dimensional shape of the inspection object to obtain shape data representing the shape; and (c) determining a flaw detection method based on the shape data obtained in the above step. Ultrasonic inspection method. 2. An ultrasonic flaw detection method for an object to be inspected having a complicated three-dimensional free-form surface, wherein: (a) the ultrasonic probe has at least three or more LEDs mounted on the ultrasonic probe; Scanning the object to be inspected; and (b) detecting the outer shape of the object by detecting the three or more LEDs of the scanner with a position detection device (PSD camera or CCD camera). Measuring the three-dimensional shape of the outer surface to obtain shape data representing the outer surface shape; and (c) flaw-detecting a defect portion of the inspection object using the ultrasonic probe of the scanner. (D) obtaining a three-dimensional graphic image of a defect portion in the inspection object in real time based on the shape data and the flaw detection data. An ultrasonic flaw detection inspection method, comprising the steps of: 3. A three-dimensional graphic image of the three-dimensional positional relationship between the object to be inspected and the defective part obtained in the step (d) is displayed on a display screen as a projected image on a two-dimensional screen. 3. The ultrasonic flaw detection method according to claim 2, wherein: 4. An ultrasonic flaw inspection method for an object to be inspected having a complicated three-dimensional free-form surface, the method comprising: (a) inputting shape data representing a three-dimensional shape of the object to be inspected from a storage device; And (b) flaw detection of the object to be inspected using an ultrasonic probe to obtain flaw detection data representing a flaw detection result for the defect portion, and the step further includes (b1) At least three or more LEs are provided on the ultrasonic probe.
Sub-step of scanning the outer surface of the three-dimensional object of the object to be inspected by a scanner equipped with D; (b2) a position detection device (a PSD camera or a CCD camera) which detects the projection light from the LED of the scanner And (b3) detecting the position and orientation of the tip of the probe to obtain the position of the scanner in the input shape data. A sub-step of displaying a three-dimensional graphic image in real time in a three-dimensional manner in relation to an image position of the object to be inspected on the screen of the scanner; and (c) the shape data and the flaw detection data Ultrasonic flaw detection, wherein each step of three-dimensionally obtaining a defect in the inspected object in real time based on査方 method. 5. An ultrasonic inspection apparatus for inspecting an object to be inspected having a complicated three-dimensional free-form surface, wherein: (a) the ultrasonic probe has at least three LEDs mounted on the ultrasonic probe; Means for scanning the outer surface of the object to be inspected; and (b) detecting the outer shape of the object to be inspected by using the three or more LEDs of the scanner with a position detecting device (PSD camera or CCD camera). Thereby, means for measuring the three-dimensional shape of the inspection object to obtain shape data representing the shape, and (c) means for determining a flaw detection method based on the shape data obtained by the above means An ultrasonic flaw detector. 6. An ultrasonic inspection apparatus for inspecting an inspection object having a complicated three-dimensional free-form surface, comprising: a scanner having at least three or more LEDs mounted on an ultrasonic probe; Means for scanning the object to be inspected, means for detecting the projection light from the three or more LEDs by the scanner, and an outer shape of the object to be inspected based on an output from the detecting means. Image display means for measuring and obtaining shape data representing the shape, and flaw detection data representing the flaw detection result by flaw-detecting a defect portion of the inspection object using the ultrasonic probe of the scanner. And a means for three-dimensionally obtaining a defect portion in the inspection object in real time based on the shape data and the flaw detection data. apparatus. 7. A three-dimensional positional relationship between the object to be inspected and the defective portion is displayed on a display screen in response to an output from a means for obtaining an image display of the shape data and the flaw detection data. The origin coordinate and the direction of each coordinate axis
6. A display device according to claim 6, further comprising display means for displaying a three-dimensional graphic image by projecting onto a three-dimensional screen.
Ultrasonic testing apparatus according to the above item. 8. An ultrasonic inspection apparatus for inspecting an object having a complicated three-dimensional free-form surface, the apparatus storing shape data representing a three-dimensional shape of the object, and an ultrasonic probe. A scanner configured by mounting at least three or more LEDs on the ultrasonic probe; a unit configured to scan a three-dimensional outer surface of the object to be inspected by the scanner; Means for detecting the projected light from the LED of the probe, means for detecting the position and orientation of the tip of the probe to obtain the position of the scanner in the input shape data, and Means for obtaining flaw detection data representing the flaw detection result of the defective portion by flaw-detecting the flaw-detected object using a probe, based on the shape data, and the flaw-detection data, Defective parts are three-dimensionally real And a means for displaying flaw detection data for the defective portion in three-dimensional real time in association with the position of the scanner on the image of the inspection object. Inspection equipment.