JP2003302217A - Self-running steel pipe inspection device, motor truck running in steel pipe, driving truck and sensor truck - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To provide a self-running steel pipe inspection device, enabling running even in a bent pipe part such as a 90° elbow pipe. <P>SOLUTION: A steel pipe inspection device 1 includes a motor truck 2 having a motor, a driving truck 3 having a running wheel and a driving mechanism to which the rotation of a rotation output shaft of the motor is transmitted to drive the running wheel, and a sensor truck 4 having a sensor for measuring the thickness of the steel pipe and towed to run by the driving truck. The driving mechanism of the driving truck is connected to the rotation output shaft of the motor through a flexible rotation transmitting shaft 6 and a universal joint, and the sensor truck is connected to the driving truck by a flexible connecting shaft 7. <P>COPYRIGHT: (C)2004,JPO

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a steel pipe inspecting device, and more particularly, to a self-propelled device for traveling by itself in a steel pipe and inspecting the pipe thickness by using ultrasonic waves to inspect for corrosion of the pipe wall. Type pipe inspection apparatus.

[0002]

2. Description of the Related Art Generally, corrosion inspection of steel plates and steel pipes (pipe thickness inspection) includes the use of a thickness gauge using ultrasonic waves, a corrosion inspection by a leakage magnetic flux method, and an eddy current flaw detection method. The optimum method is used depending on the shape and structure of the member or structure to be formed. In particular, in the inspection of steel pipes, an inspection method using ultrasonic waves is often used. In addition, in the inspection of steel pipes, it is necessary to move an ultrasonic probe (sensor) inside the pipe, but as a method of moving this probe inside the pipe, the carriage equipped with the sensor is driven by the carriage itself. There is a so-called self-propelled type in which the vehicle is driven by a driving motor, a push-in type in which the trolley is pushed by another drive source such as a push rod to move, and a pig method in which the trolley is moved by using fluid pressure. .

[0003]

The above-mentioned self-propelled system needs to be provided with a drive motor and a drive mechanism for driving a carriage equipped with a sensor, so that the size of the carriage becomes large, and the size thereof is small, for example. There is a problem that it becomes an obstacle for passing the 90 ° elbow.

On the other hand, since the pushing method does not require a drive motor, it can be miniaturized and a device that can pass through the 90 ° elbow can be provided, but a push rod for pushing the sensor is required. There is a limit to the length, and it is not suitable for running a long distance. Also, the pig system does not need to have a drive motor on the carriage of the sensor, and thus can be downsized so as to pass through the 90 ° elbow, but a large scale such as a fluid pressure control device for moving the carriage is required. There is a problem that a device is required and usage conditions are restricted.

Further, as a problem in the inspection of the steel pipe by the ultrasonic probe, there are influences due to the change of the diameter of the pipe and the change of the shape at the bent portion of the path. It is desirable that the ultrasonic waves emitted from the ultrasonic sensor be emitted perpendicularly to the pipe wall (perpendicular to the longitudinal axis of the pipe) as much as possible. When the distance of becomes large, if the direction of ultrasonic wave emission deviates from the direction perpendicular to the tube wall even a little, the reflected wave cannot be received properly,
There is a problem that the accuracy is deteriorated. Therefore, there is a demand for the development of a guide support device for a sensor truck that can always emit an ultrasonic sensor in a proper direction with respect to a pipe wall.

The present invention has been made in view of the above problems, and in a self-propelled steel pipe inspection apparatus equipped with an ultrasonic probe, the apparatus can be run even in a pipeline having a curved path such as a 90 ° elbow. An object of the present invention is to provide a steel pipe inspection device capable of performing the above. Further, the present invention has been made for the purpose of providing a steel pipe inspection device capable of constantly maintaining an ultrasonic sensor in a stable posture and transmitting ultrasonic waves to a pipe wall with appropriate accuracy. .

[0007]

One aspect of the present invention is:
A motor carriage having a motor, a driving wheel having a drive mechanism for driving the traveling wheel by transmitting the rotation of the rotation output shaft of the motor, and a sensor for measuring the steel pipe thickness. It is a self-propelled steel pipe inspection device consisting of a sensor cart that is towed.

According to this aspect, in the steel pipe inspection apparatus, the inspection apparatus includes a motor carriage, a drive carriage that is driven by the rotational driving force transmitted from the motor carriage, and a sensor carriage that is towed by the drive carriage. Since the carriage is divided and the functions are distributed to the carriages, the length of each carriage can be shortened. As a result, it becomes possible to run the bent pipe portion such as the 90 ° elbow of the steel pipe.

The drive mechanism of the drive carriage is connected to the rotation output shaft of the motor through a flexible rotation transmission shaft and a universal joint, and the sensor carriage is a flexible connection shaft with the drive carriage. With such a configuration, the rotation of the motor can be transmitted to the drive carriage even when the steel pipe is bent, and the movement of the drive wheel carriage can be transmitted to the sensor carriage for traveling.

According to another aspect of the present invention, there is provided a trolley body, a motor provided on the trolley body, a universal joint attached to a rotation output shaft of the motor and for connecting a rotation transmission shaft, A motor truck capable of traveling in a steel pipe that transmits a rotational driving force to the drive mechanism of another truck traveling by the mechanism via the rotation transmission shaft.

The motor truck of the present invention is equipped with only a motor for supplying a rotational force, and does not require a drive mechanism for driving its own truck. Therefore, it is possible to reduce the size of the trolley body.

Another aspect of the present invention is a trolley body,
The traveling wheel is provided below the bogie body and is rotationally driven by the rotational driving force transmitted by the rotation transmission shaft, and at least two sets of guide wheels are provided above the bogie body. A drive cart for pulling another carriage in a steel pipe, which is supported so as to be pressed against a pipe wall in the steel pipe.

The drive carriage of the present invention can have a function of pulling another carriage without the need to mount a motor as a power source. Therefore, it is possible to reduce the size of the carriage, and it is possible to travel by passing through a bent portion of a pipe such as a 90 ° elbow. Further, the traveling wheels reliably contact the pipe wall by the guide wheels provided above the trolley body, which enables stable traveling.

According to another aspect of the present invention, a bogie main body to be pulled by another traveling bogie, ultrasonic sensors provided on the bogie main body, and equidistant intervals in the circumferential direction of the bogie main body. And a plurality of sets of guide wheels, the guide wheels being supported so as to be pressed toward the pipe wall in the steel pipe.

The sensor cart of the present invention is equipped with only the ultrasonic sensor required for the inspection of the steel pipe, and does not require a drive mechanism for running the cart. Therefore, it is possible to reduce the size, and it is possible to travel a curved portion such as a 90 ° elbow pipe.

Further, the sensor carriage is provided with a plurality of sets of guide wheels provided at equal intervals in the circumferential direction of the carriage body, and the guide wheels are supported so as to be pressed toward the pipe wall in the steel pipe. Therefore, it is possible to position the trolley body, and hence the ultrasonic sensor in the central portion, and direct the transmitted ultrasonic waves as perpendicularly as possible to the pipe wall, which enables highly accurate measurement.

[0017]

BEST MODE FOR CARRYING OUT THE INVENTION Embodiments of the present invention will be described below with reference to the drawings in order to explain the present invention in more detail.

FIG. 1 shows the overall construction of a steel pipe inspection apparatus 1 according to an embodiment of the present invention.

The steel pipe inspection apparatus 1 comprises a motor carriage 2, a drive carriage 3, and a sensor carriage 3. As will be described later, these carriages are provided with wheels so that they can travel in the pipe 100 to be inspected, and the motor carriage 2, the drive carriage 3,
The sensor carts 3 are sequentially connected in this order.

The motor trolley 2 is equipped with a motor 21 for applying a rotational driving force to the drive mechanism of the drive trolley 3, and the motor is driven by a drive / power transmission cable from an operation controller (not shown) installed outside. It is designed to be driven by the electric power supplied by.

The rotation of the motor is transmitted to the drive mechanism by the rotation transmission shaft 6, and the drive carriage 3 is rotated by the rotation transmission shaft 6.
The vehicle is driven by the rotational force transmitted by. The motor carriage 2 is pulled by the traveling of the drive carriage 3 via the rotation transmission shaft.

The drive carriage 3 and the sensor carriage 4 are connected by a connecting shaft 7, and travel by the traveling of the drive carriage 3. The rotation transmitting shaft 6 and the connecting shaft are flexible and have a predetermined rigidity, and are formed by the forward and reverse windings of a piano wire. The connecting shaft allows the motor carriage 2 and the sensor carriage 4 to move in the front-rear direction as the drive carriage 3 travels forward or backward.

FIG. 2 shows the motor carriage 2. Motor trolley 2
Has a cart body 21 having a substantially hexagonal prism shape, and a motor 22 is mounted therein. The bogie body 21 is provided with three front-rotating wheels 23 and three rear-wheels freely rotating forward and backward respectively at equal intervals (120 ° intervals) in the circumferential direction. A cable connecting portion 25 for connecting the power / transmission cable 5 is provided at one end of the carriage, and a rotation transmitting shaft 6 for transmitting the rotation of the output shaft 22a of the motor 22 is connected at the other end. A universal joint 26 is provided. The motor 22 is a motor capable of rotating in the forward and reverse directions. Further, the front wheels 23 and the rear wheels 24 are composed of magnets so that the truck itself does not rotate spirally due to the rotation of the motor. Further, the universal joint 26 enables transmission of rotation between the output shaft 22a of the motor and the rotatable shaft 6 while allowing a change in the connection angle.

FIG. 3 shows the drive carriage 3. The drive carriage 3 has a carriage body 31, and the carriage body 31 is provided with a pair of traveling wheels 32 at the front and rear. Also, the trolley body 31
Above and above, two left and right guide wheels 33, each of which is paired in the front and rear, are provided. The guide wheel 33 is supported by a link mechanism 34, and the support shafts 35 of both side arms constituting the link mechanism 34 are pulled toward each other by springs 36, so that as shown by an arrow (A). In addition, the guide wheel 33 is always biased in the tube wall direction so as to be in contact with the inner wall of the tube 100. Thereby, even if the inner diameter of the pipe 100 is changed, the drive vehicle 3 is in a state in which the traveling wheels 32 and the guide wheels 33 are in contact with the inner wall of the space 100, which enables stable traveling.

A rotary joint 38 to which the rotation transmission shaft 6 is connected is provided at the end of the drive carriage 3 on the motor carriage 2 side, and one end of the rotation transmission shaft is connected to the motor carriage 2 so as to be rotatable. The other end of 6 is connected. A universal joint 39 for connecting the connection shaft 7 connected to the sensor carriage 3 is provided on the sensor carriage side of the drive carriage 3.

The drive motor 22 is connected to the motor carriage 2.
The rotation of the rotation transmission shaft 6 driven by the drive mechanism drives the traveling wheels via the drive mechanism 300 described below. The rotation of the rotation transmission shaft 6 is transmitted to the drive shaft 301, and the rotation of the drive shaft is transmitted to the spur gear 303 via the bevel gears 302 and 303. The rotation of the spur gear 303 is transmitted to the spur gears 304 and 305 fixed to the traveling wheels, so that the traveling wheels 30
Drive 4,305 respectively.

As described above, the drive carriage 3 travels by the rotation transmitted through the rotatable shaft 6 by the motor 22 of the motor carriage 2. The drive carriage 3 can be moved in the front-rear direction by allowing the motor 22 to rotate normally or reversely.

FIG. 4 shows the sensor carriage 4. Sensor cart 4
Has a carriage main body 41 having a hexagonal cross-section, and three sets of guide wheels 42, 43 provided at equal intervals (120 ° intervals) in the circumferential direction are attached to the carriage main body 41. The guide wheels 42 and 43 are attached to the ends of a pair of arms 44 that form a link, and the other end of the arms 44 is a spring 45.
Are pulled in directions close to each other. As a result, the guide wheels 42 and 43 are indicated by arrows (a).
, Is always pressed against the inner wall of the tube 100,
It is designed to follow changes in pipe diameter. The sensor cart 4 includes an ultrasonic probe 46, and the ultrasonic probe 46
An ultrasonic sensor 46b including an ultrasonic oscillator and an ultrasonic receiver is attached to a rotating body 46a, and a rotating shaft 47
Supported by. The sensor cart 4 also has a rotary motor 48, which rotates a rotary shaft 47 via gears 49 and 50 to rotate an ultrasonic probe 46.

A universal joint 51 is provided at the end of the sensor carriage 4 on the side of the drive carriage, and is connected to the drive carriage 3 by a connecting shaft 7.

Next, the operation of the steel pipe inspection device 1 having the above structure will be described.

As shown in FIG. 1, the pipe 10 to be inspected.
The sensor cart 4, the drive cart 3, and the motor cart 2 are fed in the order 0. The power / transmission cable 5 connected to the motor carriage 2 is wound around and held at the inspection entrance of the pipe 100, and is fed by a required amount. In addition, a power supply circuit for supplying power to the power / transmission cable, a control signal for driving and controlling the motor of the motor carriage 2 are transmitted to the inspection entrance portion of the pipe 100, and the ultrasonic sensor 46b is provided. A control device (not shown) including a measurement control unit that receives and records the detected detection signal is installed. The detection signal from the ultrasonic sensor 46b of the sensor cart 4 is transmitted to the control device by a transmission cable (not shown).

When the motor 22 of the motor truck 2 is driven by the electric power and the control signal supplied from the controller, the rotation of the output shaft 22a of the motor is transmitted to the rotation transmission shaft 6 through the universal joint 26. The rotation transmitted to the rotation transmission shaft 6 is transmitted through the universal joint 38 of the drive carriage 3 to the drive shaft 3
Rotate 01. The rotation of the drive shaft 301 is caused by the bevel gear 302,
It is transmitted to the traveling wheels 32, 32 via 303 and spur gears 303, 304, 305. As a result, the drive carriage 3 runs. As the drive carriage 3 travels, the motor carriage 2 and the sensor carriage 4 travel by being pulled or pushed through the rotation transmission shaft 6 and the connection shaft 7, respectively.

The thickness of the steel pipe is measured by receiving the ultrasonic waves oscillated from the ultrasonic sensor 46b of the ultrasonic probe 46 of the sensor carriage 4 and reflected by the pipe wall of the steel pipe 100. Then, the rotating body 46a of the ultrasonic probe 46 is connected to the rotation motor 48.
By running the sensor carriage 4 while rotating, the inspection can be performed along the pipeline while scanning the entire circumference of the steel pipe 100.

The steel pipe inspection apparatus 1 of this embodiment is driven by a motor by itself. As described above, the motor carriage 2, the drive carriage 3, and the sensor carriage 4 are divided by function, and these are divided. Since the flexible transmission shaft 6 and the connecting shaft 7 are connected to each other, the vehicle can travel even in the case of a 90 ° elbow pipe as shown in FIG. 1, for example.

Further, the three sets of rotating wheels 42 and 43 for guiding the sensor carriage 4 are provided at equal intervals in the circumferential direction and are supported so as to always extend in the radial direction.
Can be positioned at the center position of the steel pipe 100 at the same time, and the transmitted ultrasonic waves can be directed perpendicularly to the pipe wall as much as possible, so that the distance between the ultrasonic sensor 46b and the pipe wall can be kept constant and the measurement accuracy can be improved. Can be increased.

The drive vehicle 3 is also provided with traveling wheels 32 and upper guide wheels 33 and urges and supports the guide wheels 33 so as to push them toward the pipe wall. It can be brought into contact with the lower part of the wall, and the rotation drive is reliably transmitted to the traveling wheels by the motor, so that the drive carriage 3
It enables stable driving. Although the preferred embodiments of the present invention have been described in detail above, the present invention is not limited to the specific embodiments according to the present invention, and various modifications and variations are possible within the scope of the gist of the present invention described in the claims. It can be changed. For example, the above-mentioned motor cart and drive cart are
The present invention can be applied not only to the purpose of pulling the sensor cart, but also to the cart having another function, for example, the cart having a remotely operable operation member (such as a robot).

[0037]

As is clear from the above description, according to the self-propelled steel pipe inspection device of the present invention, the inspection device is driven by the motor carriage and the rotational driving force transmitted from the motor carriage and given thereto. Since the vehicle is divided into the drive cart and the sensor cart that is towed by the drive cart and the functions are distributed to the carts, the length of each cart can be shortened. This makes the steel pipe 90 °
It is possible to drive a curved pipe part such as an elbow.

The drive mechanism of the drive carriage is connected to the rotation output shaft of the motor through a flexible rotation transmission shaft and a universal joint, and the sensor carriage is a flexible connection shaft with the drive carriage. With such a configuration, the rotation of the motor can be transmitted to the drive carriage even when the steel pipe is bent, and the movement of the drive wheel carriage can be transmitted to the sensor carriage for traveling.

Further, according to the motor truck of the present invention, only the motor for supplying the rotational force is mounted, and the drive mechanism for driving the truck itself is not required. Therefore, it is possible to reduce the size of the trolley body.

Further, according to the drive carriage of the present invention, it is possible to have a function of pulling another carriage without the need to mount a motor as a power source. Therefore, it is possible to reduce the size of the carriage, and it is possible to travel by passing through a bent portion of a pipe such as a 90 ° elbow.
Further, the traveling wheels reliably contact the pipe wall by the guide wheels provided above the trolley body, which enables stable traveling.

Further, according to the sensor cart of the present invention, only the ultrasonic sensor required for the inspection of the steel pipe is mounted,
No drive mechanism is required to drive the dolly. Therefore, it becomes possible to reduce the size, and 90 °
It is possible to run in a curved part like an elbow pipe. Also,
The sensor cart is provided with a plurality of sets of rotary wheels provided at equal intervals in the circumferential direction of the cart body, and the rotary wheels are configured so as to be pressed against the pipe wall in the steel pipe, so the cart The main body, and hence the ultrasonic sensor, can be positioned at the center, and highly accurate measurement becomes possible.

[Brief description of drawings]

FIG. 1 is a diagram showing a self-propelled steel pipe inspection device according to an embodiment of the present invention.

FIG. 2 is a diagram showing a motor cart.

FIG. 3 is a diagram showing a drive cart.

FIG. 4 is a diagram showing a sensor cart.

[Explanation of symbols]

1 Self-propelled inspection device 2 motor dolly 22 motor 26 Universal 3 drive cart 32 running wheels 33 guide wheels 38 Universal 39 Universal 4 sensor cart 42 rotating wheels 46 Ultrasonic probe 46a Ultrasonic sensor 48 rotation motor

Claims (5)

[Claims] 1. A motor carriage having a motor, a drive carriage having a traveling wheel, and a drive mechanism for driving the traveling wheel by transmitting rotation of a rotation output shaft of the motor, and a sensor for measuring a steel pipe thickness. A self-propelled steel pipe inspection device comprising a sensor cart driven by the drive cart. 2. The drive mechanism of the drive carriage is connected to the rotation output shaft of the motor through a flexible rotation transmission shaft and a universal joint, and the sensor carriage is a flexible connection shaft with the drive carriage. The self-propelled steel pipe inspection device according to claim 1, wherein the self-propelled steel pipe inspection device is connected by. 3. A trolley body, a motor provided on the trolley body, and a universal joint attached to a rotation output shaft of the motor and for coupling a rotation transmission shaft, and which is driven by a drive mechanism. A motor truck capable of traveling in a steel pipe that transmits a rotational driving force to the drive mechanism of the truck via the rotation transmission shaft. 4. A trolley body, a traveling wheel provided below the trolley body, which is rotationally driven by a rotational driving force transmitted by a rotation transmission shaft, and at least two sets of guides provided above the trolley body. And a wheel, the guide wheel being supported so as to be pressed toward a pipe wall in the steel pipe, a drive carriage for pulling another carriage in the steel pipe. 5. A trolley body to be pulled by another trolley that travels, an ultrasonic sensor provided on the trolley body, and a plurality of sets of guide wheels provided at equal intervals in the circumferential direction of the trolley body. A sensor cart used for a steel pipe inspection, wherein the guide wheel is supported so as to be pressed against a pipe wall in the steel pipe.