JP2002257697A - Apparatus for collecting flawed replica - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide an apparatus for collecting a flawed replica with high accuracy as well s with sureness even from the surface of a submerged structure. SOLUTION: In an container part disposed at the tip end of a replica collecting body 40, a transformation member such as a gap-like extendable and shrinkable member 17 having excellent adherence to the replica as well as being transformed when replica materials are injected between the surface of the structure 22, is arranged. Then, by means of a replica material supply nozzle 18, a replica material is injected between the surface of a structure 22 and the extendable and shrinkable member 17, and the replica is thus collected by the use of such adherence that occurs between the extendable and shrinkable member 17 and the replica material. A water supply nozzle 45 is provided as well.

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a defect replica collecting apparatus which collects a replica of a surface of the device and inspects a structure for occurrence of damage.

[0002]

2. Description of the Related Art A conventional inspection apparatus for inspecting the inner surface of a pipe including sampling of a replica is disclosed in JP-A-9-1524.
No. 06 is known, in which a multi-joint arm is introduced into the pipe through an inspection port, and a replica of the inner surface of the pipe is sampled by a replica sampling tool attached to the tip of the multi-joint arm. Also, Japanese Patent Application Laid-Open No. 8-293
The inspection apparatus described in Japanese Patent Application Publication No. 06-2006 uses a parallel link mechanism with a kick plate attached to the tip in order to collect a replica by remote control, and presses a suppressing member against a replica collection target surface to form a mold. ing.

Further, in order to collect a replica of a structure in a nuclear reactor, a collecting apparatus described in Japanese Patent Application Laid-Open No. 7-325184 is provided with a mold corresponding to the shape of a replica collecting section in advance. A material is poured into the material to form a mold, and a collecting device for collecting a surface replica such as a small-diameter inner wall described in Japanese Patent Application Laid-Open No. 5-302875 discloses a frame for pouring a replica forming liquid. There is provided a means for preparing a replica, pouring a replica-forming liquid into the frame, pressing the liquid against the surface of the member, and collecting a replica.

[0004]

However, the above-mentioned conventional replica collecting apparatus is disclosed in Japanese Patent Laid-Open No. 9-152406.
In Japanese Patent Application Laid-Open No. 8-29306, it is possible to obtain a replica remotely by using a multi-joint arm. In the apparatus disclosed in Japanese Patent Application Laid-Open No. 7-325184, it is possible to cover a large area by enlarging the size of the mold. It was not considered, and if it was used underwater, highly accurate and accurate recovery of the replica could not be expected.

[0005] It is an object of the present invention to provide a defect replica collecting apparatus capable of accurately and reliably collecting a replica even from the surface of a structure in water.

[0006]

In order to achieve the above-mentioned object, the present invention comprises a replica sampling section which is in close contact with the surface of a structure, and supplies a replica material to the surface of the structure,
In a defect replica collecting apparatus that collects the replica, the replica collecting section is excellent in adhesion with the replica and deformed to deform so as to allow the injection of the replica material between the surface of the structure and A container part that accommodates the deformable member and can be brought into close contact with the surface of the structure, a drain nozzle that drains water from the container part into a gas phase state or a vacuum state, A replica material supply nozzle for injecting the material into the space with the deformable member.

[0007] In this case, it is preferable that a void-like elastic member is used as the deformable member, and a container part that accommodates the deformable member and adheres to the surface of the structure is provided in the replica collection section. Further, the replica collection unit has a spring that acts in a direction of pressing the container component toward the surface of the structure. When the container part is brought into close contact with the surface of the structure, a gap of 0.5 mm or more may be formed between the surface of the structure and the tip of the replica material supply nozzle.

[0008] The replica sampling section communicates with the replica material supply nozzle, and the replica material storage tank filled with the replica material, and a replica material extruding device for remotely operating and pushing out the replica material in the replica material storage tank. An air actuator is provided, and a filling amount of the replica material in the replica material storage tank is set to an amount overflowing from an outer peripheral portion of the deformable member.

It is preferable that an air actuator that is remotely operated is provided, and a plurality of columns are rotatably provided on the air actuator, and the replica collection unit is attached to each of the columns.

In addition, an underwater camera and an illuminating device are provided in the vicinity of the replica collecting section toward the replica collecting section of the structure by the replica collecting section. It is preferable to provide a gap sensor for measuring the distance between the two.

It is preferable that an inclined portion is formed at the tip of the replica material supply nozzle, which is inclined with respect to the axial direction of the replica material supply nozzle, and a notch portion through which the replica material can flow out is formed.

In addition, the observation images of the plurality of replicas collected by the replica collection unit are divided into a plurality of regions and binarized, and an AND of binary data of regions corresponding to the same position of the plurality of replicas is obtained. It is desirable to provide an observation image processing unit that takes the following.

Further, in order to achieve the above object, the present invention comprises a replica collecting section which is in close contact with the surface of a structure, supplies a replica material to the surface of the structure, and collects the replica. In the device, a main arm that moves vertically with respect to the above structure, a sub arm rotatably provided on the main arm via an air actuator, and an axial length of the sub arm that can be adjusted in the axial direction An air cylinder, a plurality of columns rotatably provided at the distal end of the sub arm via another air actuator, a replica sampling unit attached to each column, the actuators and the air cylinder, respectively. And a device for controlling high-pressure air to the replica, wherein the replica sampling section has excellent adhesion to the replica and the replica between the replica and the surface of the structure. A deformable member that deforms to allow injection of a material, a container part that houses the deformable member and can be in close contact with the surface of the structure, and drainage that drains water from the container part into a gas phase state or a vacuum state It is characterized by having a nozzle and a replica material supply nozzle for injecting the replica material between the surface of the structure and the deformable member.

[0014] A defect replica collecting apparatus according to the present invention has a deformable member that has excellent adhesion to a replica and deforms to allow injection of a replica material between the replica material and the surface of a structure.
A drain nozzle for draining water from the container parts to make a gas phase state or a vacuum state, and a replica material supply nozzle for injecting a replica material between the surface of the structure and the deformable member are provided. When the replica material is injected between the surface and the deformable member, the deformable member is deformed and injected between the surface of the structure, and the replica can be recovered in close contact with the deformable member. The replica can be sampled with high accuracy and reliability even from the surface of the structure in the above.

[0015]

Embodiments of the present invention will be described below with reference to the drawings. FIG. 3 is a sectional view showing a defect replica collecting apparatus according to one embodiment of the present invention.

As shown in FIG. 1, a work floor 49 is set on a flange 42a of the structural container 42 when a replica of the structural container 42 filled with water is collected. A pair of guide plate receiving members 48 are provided on the working floor 49, and the guide plates 43 are arranged along the guide plate receiving members 48 from above the working floor 49.
Is lowered and placed in the structure container 42. In this case, three guide plates 43 having an appropriate length are prepared, and guide plate connection bolts 45 are formed at the guide plate connection flanges 44.
Are connected to each other so that the tip of the guide plate 43 arranged at the bottom reaches the bottom of the structure container 42.

An electromagnet 46 is attached to the distal end of the guide plate 43 disposed at the lowermost position.
Is magnetically fixed to the bottom of the structural body container 42 and is supported. The electromagnet 46 can be turned on and off using a power supply and a control device 53. on the other hand,
The upper end of the guide plate 43 is held by a guide plate receiving member 48 so as not to be displaced in the lateral direction. A guide rail 47 is attached along the guide plate 43,
The main arm 1 is configured to be movable along the guide rail 47, and the main arm 1 is
2 has been moved.

A compressor 50 is installed on the work floor 49, and compressed air from the compressor 50 is sent to a manifold 51. At five outlets of the manifold 51, air solenoid valves 52 are mounted. ing. When the air electromagnetic valve 52, which can be opened and closed independently by the operation of the power supply and the control device 53, is opened, the replica sampling units 40 and 4, which will be described in detail later, are compressed air.
1 is driven.

FIG. 1 is an enlarged rear view showing a main part of the defect replica collecting apparatus shown in FIG. One end of a sub arm 3 is rotatably connected to the main arm 1 via an air actuator 2 such as a vane type air actuator. The sub arm 3 is sent to the actuator 2 through a high pressure air tube 4. The angle with respect to the main arm 1 is controlled by the high-pressure air. One end of a sub arm 6 is connected to the other end of the sub arm 3 via an air cylinder 5. This air cylinder 5 has a high-pressure air tube 7
The high-pressure air is sent through the auxiliary arm 6 so that the axial length of the sub arm 6 can be adjusted. An air actuator 8 such as, for example, a vane type air actuator is attached to the other end of the sub arm 6, and a column 9 and a column 10 are attached via the actuator 8. The pneumatic actuator 8 can adjust the mounting angle of the support 9 and the support 10 with the high-pressure air sent through the high-pressure air tube 11.

A replica collecting section 40 is connected to the column 9. The replica collecting section 40 is connected to the column 9 in detail, and the container part 12 is movably fitted to the container part 12. 13, a container part 14 having a container skirt 16 at the tip end is connected to the container part 1.
The container component 14 is configured to be pushed toward the structure 22 by a spring 15 disposed between the components 2 and 13. Container parts 14
Has a U-shaped cross section and is a cylinder or a square tube.

The container part 14 is filled with a gap-like elastic member 17, and a replica material supply nozzle 18 penetrates substantially at the center of the gap-like elastic member 17. One end of the replica material supply nozzle 18 is connected to a replica material storage tank 19 and a replica material pushing air actuator 20, and the other end forms a nozzle near the structure 22. The other column 10 also has a replica collection unit 41 in the same manner, and a detailed description thereof will be omitted.

An underwater camera 23, a ring light 24, and a gap sensor 25 are attached to the support 9 in parallel with the replica collection unit 40, and these are connected to the power supply and control device 53 of FIG. It is connected. Although not shown in detail, the underwater camera 23, the ring light 24, and the gap sensor 25 are similarly attached to the support column 10, though not shown in detail.

Next, an operation of collecting a replica from the structure 22 using the above-described defect replica collecting apparatus will be described. After installing the defect replica collecting device as shown in FIG. 3, the surface of the structure 22 is searched. That is, while illuminating with the ring light 24, the underwater camera 23
2 is displayed on the monitor 54 shown in FIG. 3 and a target site for replica collection is searched for while remotely observing. When such a target portion is confirmed, the distance between the surface of the structure 22 and the container skirt portion 16 is obtained by the gap sensor 25, and the distance is displayed on the monitor 54 shown in FIG. The actuator 2, the air cylinder 5, the air actuator 8, and the like are remotely driven so that the container skirt 16 contacts the surface of the structure 22. In this way, the position, rotation direction, vertical and horizontal position of the container skirt 16 of the container component 14 are arbitrarily controlled, and the container skirt 16 is brought into close contact with the structure 22 as shown in FIG.

At this time, since the container member 14 is supported by the support 9 via the spring 15, if the distance obtained by the gap sensor 25 is desirably set, the container skirt portion 16 can be favorably placed on the surface of the structure 22. Can be in close contact. Also, the supplied replica material is stored in the replica collection unit 4.
The container parts 14 and the container skirt 16 are made of a soft material so that the debris and the like do not leak to the surrounding water due to leakage outside. The end and the surface of the structure 22 are in close contact.

Thereafter, when controlled high-pressure air is sent through the high-pressure air tube 21, the replica material storage tank 1
The replica material in 9 is sent to the replica material supply nozzle 18 side by the replica material pushing air actuator 20, and is sent out from the tip of the replica material supply nozzle 18. After the replica material is extruded between the structure 22 and the gap-like elastic member 17, it is solidified between the structure 22 and the gap-like elastic member 17 as shown in FIG. At this time, the amount of the replica material stored in the replica material storage tank 19 is optimally determined, and the gap-like elastic member 17 is given an appropriate adhesion force to the structure 22. The replica material does not spread until it reaches the container skirt 16.

Here, the replica material is usually hardened by mixing two or more types of liquids, but is separated in a steady state, and is mixed and fed at the time of supply. For example, the internal structure of the replica material storage tank 19 and the replica material supply nozzle 18 is such that a film 36 is provided in the replica material storage tank 19 as shown in FIG. A film 37 is provided on the material storage tank 19 on the side of the replica material supply nozzle 18. This film 37
Has a strength such that it is broken when high-pressure air is sent to the replica material storage tank 19 by the replica material pushing air actuator 20. Therefore, when the supply of the replica material is started, the film 37 is damaged, and the replica material flows into the replica material supply nozzle 18 and hardens.

Since the container skirt 16 and the structure 22 are almost in close contact with each other, the surrounding water does not enter the gap-like elastic member 17 after the replica material is supplied, and the replica 26 does not come into contact with the surrounding water. . Further, since the container skirt portion 16 and the structure 22 are almost in close contact with each other, the surrounding water does not enter the gap-shaped elastic member 17 after the replica material is supplied, and the replica 26 does not come into contact with the surrounding water.

Thereafter, when the replica 26 is collected, the container member 14 and the like are moved to the structure 2 by operating the actuator 2 and the like.
When the replica 26 is driven to be separated from the gap 2, the replica 26 is sufficiently entangled with the gap-shaped elastic member 17 and is in close contact with sufficient strength. be able to.

Subsequently, when replica sampling is to be performed at another part of the structure 22 or when the precursor is to be continuously sampled at the same part, the air actuator 8 is operated to support the column 9.
Is rotated 180 degrees so that the support 10 and the support 10 are interchanged,
This time, the replica collection section 41 on the side of the support 10 is made to face the structure 22, and the second replica collection is performed in the same procedure as the previous case.

Thereafter, by operating the air actuator 2 and the like to drive the replica collecting section 40 such as the container member 14 away from the structure 22, the sub-arms 3 and 6 are stored in the main arm 1 and The replica 26 can be collected by running the vehicle 1 along the guide rail 47.

Since the above-mentioned defect replica collecting apparatus has a pair of columns 9 and columns 10 and is configured to be switchable by a switching mechanism such as the air actuator 8, continuous replica collection is possible. In addition, since the gap-like elastic member 17 is arranged near the replica material supply nozzle 18, the replica material supplied from the replica material supply nozzle 18 is sent out between the structure 22 and the gap-like elastic member 17, and the gap-like elastic member 17 is provided. 17 and can be recovered. This collection is the same even when a deformable member such as an elastic member is used instead of the gap-shaped elastic member 17. Further, since the container member 14 is elastically supported by the support 9 so as to be movable in the direction of coming and going from the surface of the structure 22 by the spring 15, the air member 8 is operated to operate the container member 1
The container skirt portion 4 of No. 4 can be effectively brought into close contact with the surface of the structure 22, and a good replica 26 can be obtained.

FIG. 4 is a partially sectional side view showing a defect replica collecting apparatus according to another embodiment of the present invention.
The same components as those in the embodiment shown in FIG. 1 are denoted by the same reference numerals, detailed description thereof will be omitted, and only different portions will be described. In this embodiment, the replica material supply nozzle 18 is used.
When the container skirt portion 16 is brought into close contact with the structure 22 with an appropriate pressing force based on the gap sensor 25, the replica material supply nozzle 1 is set.
A gap 27 of 0.5 mm or more is formed between the front end of 8 and the surface of the structure 22.

The replica material supply nozzle 18 in the same state
Can be arranged so as to form a gap of 0.5 mm or less with respect to the structure 22. In such a positional relationship, the finally obtained replica 26 is formed by the replica material supply nozzle 18. There is a possibility that a hole may be formed in the center, and the defect may not be correctly reflected. However, as described above, the replica material supply nozzle 1
If a gap 27 of 0.5 mm or more is formed between the tip of the nozzle 8 and the structure 22, the replica material is also supplied between the tip of the replica material supply nozzle 18 and the structure 22. It is possible to obtain a replica 26 that reflects more accurately.

FIG. 5 is a partially sectional side view showing a defect replica collecting apparatus according to still another embodiment of the present invention, and the same reference numerals are given to the same parts as those of the embodiment shown in FIG. Detailed description will be omitted, and only the differences will be described.

Here, as shown in FIG. 1, the container part 14 provided on the surface side of the structure 22 is removed, and the gap-like elastic member 17 is directly attached to the plate-like member 35 connected to the column 9 side.

As in the previous embodiment, when the column 9 is placed at a predetermined position during replica collection, the gap-shaped elastic member 17 is brought into close contact with the surface of the structure 22 by the spring 15 with a predetermined pressing force. become. Therefore, when high-pressure air is sent to the replica material pushing air actuator 20 through the high-pressure air tube 21 in this state, the replica material in the replica material storage tank 19 is pushed out through the replica material supply nozzle 18, and as shown in FIG. Is obtained. In other words, even without the container component 14, it is possible to obtain the replica 26 entangled in the gap-shaped elastic member 17 without protruding from the gap-shaped elastic member 17.

FIG. 7 is a partially sectional side view showing a defect replica collecting apparatus according to still another embodiment of the present invention, in which equivalent parts to those of the embodiment shown in FIG. Detailed description will be omitted, and only the differences will be described. Here, the supply amount of the replica material extruded from the replica material storage tank 19 through the replica material supply nozzle 18 at one time is larger than that in the embodiment of FIG. For example, replica material storage tank 1
By increasing the internal volume of No. 9 to 130% or more of an appropriate amount when the replica material does not protrude from the container part 14, the replica can be protruded from the container.

When the supply amount of the replica material extruded from the replica material storage tank 19 through the replica material supply nozzle 18 at one time is larger than that in the case of FIG. 5, the replica material becomes the outer periphery of the gap-shaped elastic member 17 as shown in FIG. As a result, the replica 26 having a large area can be obtained. The replica 26 having a large area comes into contact with the surrounding water at the outer periphery thereof, but since the replica portion having water bubbles is pushed out to the periphery by involving water, there is little water bubbles at the center where the replica is desired to be collected, so that the replica is accurate. You can get a replica. Also, in this case, the replica 26 having a large area is sufficiently entangled with and adhered to the gap-shaped elastic member 17, so that the replica 26 can be reliably taken in.

FIG. 8 is a partially sectional side view showing a defect replica collecting apparatus according to still another embodiment of the present invention, and the same reference numerals are given to the same parts as those of the embodiment shown in FIG. Detailed description will be omitted, and only the differences will be described.

This embodiment is applied to a case where the surface shape of the structure 22 to be subjected to replica sampling is complicated like a corner portion 29. The gap-shaped elastic member 17 having a tapered tip portion is directly fixed to the portion 29. In addition, the replica collecting section 41 having the container part 14 attached to the column 10 in consideration of replica collecting of other portions of the structure 22 has the same structure as that of the above embodiment.

When the surface shape of the structure 22 for performing replica sampling is complicated like the corner portion 29, the shape of the container part 14 can be made in accordance with the shape of the corner portion 29. If the gap-like elastic member 17 as shown in FIG.
The replica 26 can be collected in a complicated shape portion by using the followability due to the deformation of.

FIG. 9 is a partially sectional side view showing a defect replica collecting apparatus according to still another embodiment of the present invention, in which equivalent parts to those of the embodiment shown in FIG. Detailed description will be omitted, and only the differences will be described. This embodiment is applied to a case where only one replica is collected from the same part of the structure 22 without taking a plurality of replicas, and the column 10 side shown in FIG. 1 is omitted. One support 9 is attached to the air actuator 8, and the container part 14 and the like are attached only to the support 9, so that the configuration and operation can be simplified.

FIG. 10 is a side view showing a replica supply nozzle of a defect replica collecting apparatus according to still another embodiment of the present invention.

The replica supply nozzle 18 has its nozzle tip 30 inclined with respect to the axis. The tip of the replica supply nozzle 18 approaches or is pressed against the structure 22, but since the nozzle tip 30 is inclined, the replica material does not become difficult to come out.

FIG. 11 is a side view showing a replica supply nozzle of a defect replica collecting apparatus according to still another embodiment of the present invention.

The replica supply nozzle 18 in this embodiment has a notch 31 at the tip of the nozzle. Similar to the embodiment shown in FIG. 10, the tip of the replica supply nozzle 18 approaches or is pressed against the structure 22. However, since the notch 31 is formed in the same portion, a replica material storage tank (not shown) is formed. The replica material in 19 is also supplied from the notch 31, so that the replica material does not become difficult to come out.

FIG. 12 is a block diagram showing an image processing section of a defect replica collecting apparatus according to still another embodiment of the present invention.

In the embodiment shown in FIG. 1, a plurality of replicas can be collected from the same site by switching the columns 9 and 10. Thereafter, observation images from a plurality of replicas taken from the same site are divided into minute regions and binarized, and minute regions 32 and 3 corresponding to the same position of the plurality of replicas are obtained.
Since an image processing unit for performing an image processing by taking an AND of the binarized data of No. 3 is provided, a highly accurate damage observation image 34 excluding information such as water bubbles other than surface damage can be obtained, and more accurate judgment can be made. Can be performed.

FIG. 14 is a cross-sectional view showing a defect replica collecting apparatus according to one embodiment of the present invention. FIG. 13 is a partial cross-sectional view showing a defect replica collecting apparatus according to another embodiment of the present invention shown in FIG. FIG. 4 is a side view, in which equivalent parts to the embodiment shown in FIGS. 1 and 3 are denoted by the same reference numerals, detailed description thereof will be omitted, and only different parts will be described.

In FIG. 13, a drain nozzle 45 is provided to penetrate the container part 14. The drain nozzle 45 is
A high pressure air tube 47 is attached to the sixth outlet side of the manifold 51 via an air electromagnetic valve 60. The drain nozzle 45 is provided with the high-pressure air tube 4.
7 is connected to a drainage pump 56 via an air electromagnetic valve 62, and further connected to a vacuum pump 54 via an air electromagnetic valve 64.

In this configuration, the water in the container part 14 is extracted by driving the drainage pump 56.
To supply the high-pressure air from above to bring the inside of the container part 14 into a gaseous state. Alternatively, the drainage pump 56 is driven to extract water, and the vacuum pump 54 is driven to bring the interior of the container component 14 into a vacuum state.

When the interior of the container part 14 is in a gas phase state or a vacuum state as described above, it is possible to prevent water from being mixed into the replica and making it impossible to collect an accurate replica. Also,
By setting a vacuum state, the incorporation of air can be prevented and an accurate replica can be collected.

Further, by reducing the width (depth) of the container part 14 having a U-shaped cross section, a replica can be collected without filling the gap-shaped elastic member 17.

In each of the above-described embodiments, a case has been described in which a replica is collected from the underwater structure 22, but the replica can be used in other environments.
Further, in each of the above-described embodiments, the close contact with the gap-shaped elastic member 17 is used to collect the replica 26. A deformable member that deforms so as to allow the injection of the replica material with the surface can be used.

[0055]

As described above, the defect replica collecting apparatus according to the present invention comprises a deformable member which is excellent in adhesion to a replica and deforms so as to allow injection of a replica material between the replica and a surface of a structure. Since a replica material supply nozzle that injects material between the surface of the structure and the deformable member is provided, when a replica material is injected between the surface of the structure and the deformable member, the deformable member deforms while deforming. Since the replica is injected between the surface of the object and the replica can be collected in close contact with the deformable member, the replica can be accurately and reliably collected even from the surface of the structure underwater. become.

Further, when the inside of the container part is in a gas phase state or a vacuum state, it is possible to prevent water from being mixed into the replica and making it impossible to collect an accurate replica. In addition, if a vacuum state is set, the incorporation of air can be prevented and an accurate replica can be collected.

Further, by reducing the width (depth) of the container part having a U-shaped cross section, it becomes possible to collect a replica without filling the hollow elastic member.

[Brief description of the drawings]

FIG. 1 is a partial cross-sectional side view showing a defect replica collecting apparatus according to an embodiment of the present invention.

FIG. 2 is a partial cross-sectional side view showing a replica collecting state according to the defect replica collecting apparatus shown in FIG.

FIG. 3 is a partial cross-sectional side view showing the entire configuration of the defect replica collecting apparatus shown in FIG.

FIG. 4 is a partial cross-sectional side view showing a defect replica collecting apparatus according to another embodiment of the present invention.

FIG. 5 is a partial cross-sectional side view showing a defect replica collecting apparatus according to still another embodiment of the present invention.

6 is a partial sectional side view showing a replica collecting state of the defect replica collecting apparatus shown in FIG.

FIG. 7 is a partial cross-sectional side view showing a defect replica collecting apparatus according to still another embodiment of the present invention.

FIG. 8 is a partial cross-sectional side view showing a defect replica collecting apparatus according to still another embodiment of the present invention.

FIG. 9 is a partial cross-sectional side view showing a defect replica collecting apparatus according to still another embodiment of the present invention.

FIG. 10 is a side view showing a main part of a defect replica collecting apparatus according to still another embodiment of the present invention.

FIG. 11 is a side view showing a main part of a defect replica collecting apparatus according to still another embodiment of the present invention.

FIG. 12 is a block diagram showing an image processing unit of a defect replica collecting device according to still another embodiment of the present invention.

FIG. 13 is a partial cross-sectional side view showing a defect replica collecting apparatus according to another embodiment of the present invention.

FIG. 14 is a partial cross-sectional side view showing the entire configuration of the defect replica collecting apparatus shown in FIG.

[Explanation of symbols]

DESCRIPTION OF SYMBOLS 1 Main arm 2,8 Air actuator 3,6 Secondary arm a 4,7,11,47 High-pressure air tube a5 Air cylinder 9,10 Support column 12-14 Container part a15 Spring 16 Container skirt part 17 Gap-like elastic member 18 Replica material supply nozzle 19 Replica material storage tank 20 Replica material pushing air actuator 22 Structure 23 Underwater camera 24 Ring light 25 Gap sensor 26 Replica 27 Gap 31 Notch 32,33 Micro area 34 Damage observation image 40,41 Replica collection container a 46 Electromagnet 47 Guide rail 49 Working floor 52 Pneumatic solenoid valve 53 Power supply and control device 54 Monitor 45 Drain nozzle 56 Drain pump 58 Crimson pump

 ──────────────────────────────────────────────────続 き Continuing from the front page (72) Inventor Akihiko Hirano 502 Kandachi-cho, Tsuchiura-shi, Ibaraki Machinery Research Laboratory, Hitachi, Ltd. (72) Inventor Takao Shimura 3-1-1 Sachicho, Hitachi-shi, Hitachi Hitachi, Ltd., Nuclear Power Division (72) Inventor Koichi Adachi 3-1-1, Sachimachi, Hitachi, Ibaraki F-Term, Nuclear Power Division, Hitachi Ltd. 2G052 AA00 AC12 AC16 AD32 FD00 FD05 HB06 HC42 JA08 JA09

Claims (14)

[The claims] 1. A defect replica collecting apparatus, comprising: a replica collecting section which is in close contact with a surface of a structure, supplies a replica material to the surface of the structure, and collects the replica.
The replica collecting section is a deformable member that is excellent in adhesion to the replica and deforms to allow the injection of the replica material between the surface of the structure and the deformable member. A container component that can be in close contact with the surface, a drain nozzle that drains water from the container component to a gas phase state or a vacuum state, and a replica material that injects the replica material between the surface of the structure and the deformable member And a supply nozzle. 2. The defect replica collecting apparatus according to claim 1, wherein a gap-like elastic member is used as said deformable member. 3. The defect replica collecting apparatus according to claim 2, wherein the replica collecting section has a spring acting in a direction to press the container component against the surface of the structure. 4. A gap of 0.5 mm or more is formed between the surface of the structure and the tip of the replica material supply nozzle when the container part is brought into close contact with the surface of the structure. The defect replica collecting apparatus according to claim 2, wherein 5. A replica material storage tank which is in communication with the replica material supply nozzle and is filled with the replica material, and a replica which is remotely operated to push out the replica material in the replica material storage tank. The defect replica collecting apparatus according to claim 1, further comprising a material pushing air actuator. 6. The defect replica collecting apparatus according to claim 5, wherein the filling amount of the replica material in the replica material storage tank is an amount overflowing from an outer peripheral portion of the deformable member. 7. An air actuator which is remotely operated, a plurality of columns are rotatably provided on the air actuator, and the replica sampling portions are respectively attached to the respective columns. Defect replica collection equipment. 8. A defect replica collecting apparatus according to claim 1, further comprising an underwater camera and an illumination device directed to the replica collecting portion of the structure by the replica collecting section, in the vicinity of the replica collecting section. . 9. A defect replica collecting apparatus according to claim 1, further comprising a gap sensor near the replica collecting section for measuring a distance from the replica collecting section to a replica collecting portion of the structure. . 10. The defect replica collecting apparatus according to claim 1, wherein the replica material supply nozzle has an inclined portion formed at the tip thereof with respect to the axial direction of the replica material supply nozzle. 11. A defect replica collecting apparatus according to claim 1, wherein said replica material supply nozzle has a notch formed at the tip thereof so that said replica material can flow out. 12. An observation image of a plurality of replicas collected by the replica collection section is divided into a plurality of regions and binarized, and an AND of binarized data of regions corresponding to the same position of the plurality of replicas is obtained. 2. The defect replica collecting apparatus according to claim 1, further comprising an observation image processing unit for taking the image. 13. A replica collection unit which is in close contact with the surface of a structure, and supplies a replica material to the surface of the structure,
In the defect replica collecting apparatus for collecting the replica, a main arm vertically moving with respect to the structure, a sub arm rotatably provided on the main arm via an air actuator, and an axis of the sub arm An air cylinder provided so that its axial length can be adjusted in the direction, a plurality of columns rotatably provided via another air actuator at the tip of the sub arm, and a replica sampling unit attached to each column. A device for controlling high-pressure air to each of the actuators and the air cylinder, wherein the replica sampling unit has excellent adhesion to the replica and injects the replica material between the replica material and the surface of the structure. A deformable member that deforms to permit, a container part that houses the deformable member and can be in close contact with the surface of the structure, and a water state in which the water in the container part is drained. There is a drain nozzle for a vacuum state, defect replica pickup apparatus characterized by having a replica material supply nozzle to inject the replica material between the surface and the deformable member of said structure. 14. A replica collection unit which is in close contact with the surface of a structure, and supplies a replica material to the surface of the structure,
In the defect replica collecting apparatus that collects the replica, the replica collecting unit, a container part that can be in close contact with the surface of the structure, a drain nozzle that drains water from the container part to a gas phase state or a vacuum state, A defect replica collecting apparatus, comprising: a replica material supply nozzle for injecting the replica material between a surface of the structure and the deformable member.