JP2005017255A - Regenerated pipe inspection device and regenerated pipe inspection method using this device - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To provide a regenerated pipe inspection device capable of automatically and easily inspecting the thickness of a coated part of a regenerated pipe having a diameter difficult to be checked manually, and its inspection method. <P>SOLUTION: The device body 10 is provided with a probing section 12 having a probing face 16 which sends and receives ultrasonic pulses, a probing section movement mechanism 18 for moving the probing section 12 to the internal surface of the regenerated pipe 11, a swirling mechanism 30 for swirling the probing section 12 in the direction of the inner circumference of the regenerated pipe 11, an angle detection section 46 for detecting the angle of revolution of this probing section 12, and an adhering agent supply section 24 for supplying an adhering agent to the probing face before it touches the internal surface. <P>COPYRIGHT: (C)2005,JPO&NCIPI

Description

[0001]
BACKGROUND OF THE INVENTION
The present invention relates to a rehabilitation pipe inspection apparatus, and more particularly to an apparatus and method for performing non-destructive inspection of the thickness and the like of a rehabilitation pipe rehabilitated by a rehabilitation method.
[0002]
[Prior art]
Many of the pipes (sewers, water, gas, electric power, communications, other fluid transport pipes, etc.) are installed in a state where they are buried underground. For example, in the case of a sewage pipe embedded in the ground, the sewage pipe deteriorates over a long period of time due to corrosive gas or ground subsidence. As a method of repairing this deteriorated pipe, there is a so-called rehabilitation method. In this method, for example, a resin or other restoration material such as FRP (hereinafter referred to as FRP “Fiber Reinforced Plastic”) is inserted into the inner periphery of a deteriorated pipe, and the resin is cured by heat, light, etc. The pipe is rehabilitated by coating with FRP having a predetermined thickness. FIG. 11 illustrates a cross-sectional view of a rehabilitated pipe that is a pipe after rehabilitation. In this figure, the FRP 152 is coated on the inner surface of the pipe main body 150 with a predetermined thickness, and the pipe main body 150 is repaired. The coating thickness of the FRP 152 is determined by calculating the load bearing capacity based on the intrinsic physical property value according to the embedment depth and the pipe diameter.
[0003]
And about the prior art which confirms the thickness etc. of covering parts, such as FRP of a rehabilitation pipe after rehabilitation work, for example, about a rehabilitation pipe with a small diameter of less than 800 mm, visual confirmation with a TV camera etc. Has been done. For large-diameter tubes, a portable ultrasonic flaw detector (see, for example, Patent Document 1) is brought into the tube and checked manually.
[0004]
[Patent Document 1]
JP 11-337535 A
[0005]
[Problems to be solved by the invention]
However, in the above-described inspection method by visual inspection of the rehabilitating tube covering portion using the TV camera in the small diameter rehabilitating tube, although the surface condition inside the rehabilitating tube can be confirmed, it is difficult to confirm the thickness of the covering portion. In addition, the method of manually checking the coating portion by bringing an ultrasonic flaw detector into the piping line is very difficult for small piping because of the condition of the tube diameter. That is, for example, in a rehabilitation pipe having a small diameter of less than 800 mm, a method for quickly and easily inspecting the inner wall portion has not been established.
[0006]
The present invention has been made to solve the above-mentioned problems, and its purpose is to provide a rehabilitation pipe inspection capable of automatically and easily inspecting the thickness of a rehabilitation pipe having a diameter which is difficult to manually check. It is to provide an apparatus and an inspection method.
[0007]
[Means for Solving the Problems]
In order to achieve the above object, a rehabilitation tube inspection apparatus according to claim 1 is provided with a probe unit having a probe surface for transmitting and receiving ultrasonic pulses in the apparatus body, and the probe unit within the rehabilitation tube. A probe moving mechanism that moves to the wall surface, a turning mechanism that turns the probe in the inner circumferential direction of the rehabilitation tube, an angle detector that detects the turning angle of the probe, and before contact with the inner wall surface And an adhesive agent supplying section for supplying the adhesive agent to the probe surface.
[0008]
Thereby, the thickness of the rehabilitation pipe | tube with a small diameter can be test | inspected automatically. In addition, since the inspection can be performed at an arbitrary position in the inner circumferential direction in the rehabilitation pipe, the entire circumferential direction inspection at a predetermined location is possible. That is, it is possible to obtain information on a circular cut at a predetermined location. Furthermore, since it can test | inspect while supplying adhesive agent suitably, many inspections are possible continuously.
[0009]
The rehabilitation pipe inspection apparatus according to claim 2 is the rehabilitation pipe inspection apparatus according to claim 1, wherein a travel mechanism that moves the apparatus main body within the rehabilitation pipe, and a position that detects a position of the apparatus main body within the rehabilitation pipe. And a detecting means.
[0010]
Thereby, an apparatus main body can be freely moved within a rehabilitation pipe | tube. Further, by providing the position detection means, it is possible to know the apparatus main body inspection position in the rehabilitation pipe, and thereby the inspection position can be confirmed. The traveling device may be either a self-propelled type or a towed type.
[0011]
The rehabilitation tube inspection device according to claim 3 is the rehabilitation tube inspection device according to claim 1 or 2, wherein the adhesion agent supply unit drops and adheres a predetermined amount of adhesion agent onto the probe surface. It is characterized by having an adhesion agent feeding mechanism.
[0012]
Adhesive agent is supplied directly onto the probe surface before inspection by the probe unit, so that adhesion of the adhesive agent on the probe surface can be performed well and reliably, and accurate measurement becomes possible. .
[0013]
The rehabilitation tube inspection device according to claim 4 is the rehabilitation tube inspection device according to any one of claims 1 to 3, wherein the adhesion agent supply unit detects the adhesion agent before attaching the adhesion agent on the probe surface. It has the air supply means which injects air on a touch surface, It is characterized by the above-mentioned.
[0014]
Thereby, after removing the deposits on the probe surface with air, the adhesive can be supplied onto the probe surface, so that the inspection by the probe part can be facilitated and speeded up.
[0015]
The rehabilitation tube inspection device according to claim 5 is the rehabilitation tube inspection device according to any one of claims 1 to 4, wherein the rehabilitation tube inspection device includes a device fixing mechanism for fixing the device main body in the rehabilitation tube. It is characterized by that.
[0016]
Thereby, the rehabilitation pipe inspection apparatus main body can be fixed in the rehabilitation pipe. Therefore, the probe surface can be stably brought into contact with the inner wall of the rehabilitation tube, thereby enabling stable detection.
[0017]
The rehabilitation tube inspection device according to claim 6 is the rehabilitation tube inspection device according to any one of claims 1 to 5, wherein the probe portion is held in a state where the probe portion is freely angularly displaceable. Is attached to the probe moving mechanism, and the probe is rehabilitated around the probe surface before the probe surface when the probe is moving to the inner wall of the rehabilitation tube at an inclination angle greater than a predetermined angle. It has a tip height that collides with the inner wall surface of the tube, and is provided with an angle correction protrusion that corrects the contact angle of the probe by the collision.
[0018]
As a result, if the probe section is tilted beyond a predetermined angle, that is, beyond the range in which an appropriate ultrasonic inspection can be performed, the collision with the inner wall surface of the rehabilitation pipe due to the presence of the angle correction protrusion. What is to be done is an angle correcting protrusion existing around the probe surface.
[0019]
Since the probe portion is held by the holding portion so as to be angularly displaceable, the angle of the probe portion is corrected so that the probe portion faces the inner wall surface of the rehabilitation tube at an appropriate angle by the collision of the angle correction protrusion. That is, the probe part axis is brought close to a state perpendicular to the inner wall surface of the rehabilitation pipe. Therefore, even when the probe is moving in the direction of the inner wall surface with the probe being tilted by the probe moving mechanism, correction is automatically made at a more accurate angle until the probe touches. .
[0020]
The rehabilitation tube inspection device according to claim 7 is the rehabilitation tube inspection device according to any one of claims 1 to 6, wherein the probe holding unit is mutually in a spherical surface with the probe unit. It is characterized by being formed as a bearing means for contact.
[0021]
For example, the bearing is configured as a ball bearing, and a convex spherical surface is formed on the probe portion side, and a concave spherical surface is formed on the holding portion side, so that the probe portion can be angularly displaced. The frictional force when changing the angle of the probe is strong enough to keep the probe in an appropriate angle in the normal state, and the angle is corrected by the collision of the angle correction protrusion with the inner wall of the rehabilitation pipe. It is set to a certain level of strength.
[0022]
A rehabilitation tube inspection system according to claim 8 is a rehabilitation tube inspection device according to any one of claims 1 to 7, and a control unit that controls the operation of each part of the rehabilitation tube inspection device from outside the rehabilitation tube, And an ultrasonic inspection apparatus for analyzing and processing transmission / reception data of the ultrasonic pulse signal of the probe unit.
[0023]
Thereby, while operating this rehabilitation tube inspection device, data is processed while inspecting an ultrasonic pulse signal, and comprehensive and stable inspection measurement is possible.
[0024]
The rehabilitation tube inspection method using the rehabilitation tube inspection device according to claim 9 uses a rehabilitation tube inspection device provided with a probe portion having a probe surface for transmitting and receiving ultrasonic pulses in the device body. The rehabilitation pipe inspection method is to move the device body to the measurement location by the travel mechanism, detect the measurement location by the position detection means, and automatically supply the adhesion agent from the adhesion agent supply section to the probe surface of the probe section. The probe is moved by the probe moving mechanism so that the probe surface contacts the inner wall of the rehabilitation tube, the thickness of the rehabilitation material coating is measured, and the probe is moved backward by the probe moving mechanism. After that, the swivel mechanism is swung by a predetermined angle in the inner circumferential direction of the rehabilitation pipe, supplying the adhesive to the probe surface, contacting the probe surface to the inner wall surface of the rehabilitation pipe, measuring the thickness of the coating part, The probe is retracted, the angle detector detects the turning angle of the probe, and multiple turns at the measurement location Over time and performs the series thickness measurement by repeating the above steps.
[0025]
As a result, the rehabilitation tube inspection device can be used to smoothly perform the above series of measurement operations without a human being entering the tube. Thereby, the thickness of the coating | coated part in the various places of a rehabilitation pipe | tube can be test | inspected rapidly without trouble.
[0026]
DETAILED DESCRIPTION OF THE INVENTION
Embodiments according to the present invention will be described below in detail with reference to the drawings. FIG. 1 shows a schematic configuration of an apparatus main body which is a main part of an inspection apparatus according to the present invention. In the present embodiment, an example in which the rehabilitated pipe FRP portion 14 is formed in the existing pipe 15 as the covering part to form the rehabilitated pipe 11 is shown. This apparatus main body 10 inspects the inside of the rehabilitation tube 11 according to the general principle of ultrasonic flaw detection, detects the transmission of the ultrasonic pulse at the measurement site and the reflection of the transmitted ultrasonic pulse, and the time difference therebetween. From the above, the thickness of the inner wall portion is inspected (for example, see Metal Handbook Rev. 5 edition, Maruzen, pages 446 to 450, edited by the Japan Institute of Metals). Further, it is possible to inspect cracks and the like generated in the inner wall portion from the magnitude and waveform of the reflected ultrasonic pulse.
[0027]
In the rehabilitation tube inspection apparatus according to the present embodiment, a probe unit 12 that transmits and receives ultrasonic pulses is provided on the front side (left side in the figure) of the apparatus body 10. The probe unit 12 performs an inspection in a state where the probe surface 16 at the distal end surface is in contact with the rehabilitated tube FRP unit 14 that is a covering unit. For this reason, a probe moving mechanism 18 for moving the probe 12 to the surface of the FRP unit is provided.
[0028]
FIG. 2 shows an enlarged view of the probe moving mechanism 18. The probe unit moving mechanism 18 is composed of air cylinders 20 and 22, each having an extending part 20-a and 22-a that are extended by air pressure, and this part extends in the length direction of the air cylinders 20 and 22. . The probe 12 is held by the extension 20-a of the air cylinder 20 through the joint 19, and the air cylinder 20 is held by the extension 22-a of the air cylinder 22 through the joint 21. Due to the two-stage structure of the air cylinders 20 and 22, the probe 12 moves toward the surface of the rehabilitation pipe FRP 14 as shown by the two-dot chain line in the figure. 16 can contact the rehabilitation pipe FRP part 14. Note that the probe portion 12 is held by the joint 19 via a spring 23, and the spring portion 23 enables the probe portion 12 to flexibly contact the rehabilitated tube FRP portion 14. That is, even when the contact surface 16 is inclined with respect to the inner wall surface of the rehabilitation pipe FRP portion 14, this is allowed by the deformation of the spring 23, and the probe surface 16 is perpendicular to the inspection surface of the rehabilitation pipe FRP portion 14. Can be contacted.
[0029]
FIG. 3 is a perspective view showing an outline of the probe unit moving mechanism 18. As illustrated, the extending portions 20-a and 22-a have three extending portions 20-a-1 to 23, 22-a-1 to 3 respectively. Of the extension parts 20-a-1 to 23-22-a-1, the extension parts 20-a-2 and 22-a-2 are extended by receiving air pressure, and the other extension parts 20-a- Reference numerals 1, 3, 22-a-1, 3 are guides for stably extending the extending portions 20-a, 22-a. That is, by this guide, the probe unit 12 is linearly extended without bending in the extending direction.
[0030]
Further, as shown in FIG. 1, a swiveling mechanism 30 that turns the probe unit 12 in the inner peripheral direction of the rehabilitating tube 11 is provided to search for an arbitrary position in the inner peripheral direction of the rehabilitating tube 11. The turning mechanism 30 mainly includes a turning mechanism main body 37 that holds a base 36 that holds the air cylinder 22 and turns the pipe in the inner circumferential direction of the pipe, and a turning motor 42 that turns the turning mechanism main body 37.
[0031]
A gear 38 is provided on the outer periphery of the right side of the turning mechanism main body 37, and a gear 40 that meshes with the gear 38 is provided in the turning motor 42. The turning mechanism main body 37 is attached to the outer frame 27 via a bearing 41 so as to be turnable. As described above, the turning mechanism 30 turns the entire probe moving unit 18 and the probe 12. Further, the turning by the turning mechanism 30 is detected by an angle detection unit (encoder) 46 having a gear 44 that meshes with the gear 38 (see FIG. 1). The operation of the probe unit moving mechanism 18 and the turning mechanism 30 is controlled by an external control unit which will be described later with reference to FIG.
[0032]
FIG. 4 schematically shows a state in which the probe unit 12 is turned from the state indicated by the two-dot chain line by a predetermined angle (turning angle) A as viewed from the upper left in FIG. In this way, the inner wall portion is inspected at an arbitrary angular position in the inner circumferential direction of the rehabilitation pipe. The above-mentioned turning is performed by holding the probe surface 16 and the rehabilitation pipe FRP unit 14 in a non-contact state by the probe unit moving mechanism 18. That is, it is also possible to collect information on the thickness of the rehabilitation pipes in the cut-off state.
[0033]
In addition, in order to obtain good ultrasonic pulse data, an adhesive agent supply unit 24 for supplying an adhesive agent directly to the probe surface 16 is provided in the present embodiment (see FIG. 1). The adhesive agent supply unit 24 includes an adhesive agent supply device 28 that is attached to the apparatus main body 10 and stores the adhesive agent therein, and an adhesive agent supply tube 26 that has one end connected to the adhesive agent supply device 28. Yes. Further, the contact agent supply unit 24 has an air supply means to be described later. The air supply means includes an air solenoid valve 34 that controls the injection of air from a pump that supplies compressed air from the outside, and the air solenoid valve. An air supply tube 32 having one end connected to 34 is provided.
[0034]
The tips of the adhesive agent supply tube 26 and the air supply tube 32 are arranged so as to be positioned immediately above the probe surface 16 in a predetermined operation state of the probe unit 12. In this embodiment, the predetermined operation state means that the probe unit 12 is directed vertically upward by the operation of the turning mechanism 30 and the air cylinder 20 and the air cylinder 22 are most contracted by the operation of the probe unit moving mechanism 18. (See the state shown in FIG. 1).
[0035]
Further, the adhesive supply tube 26 and the air supply tube 32 are formed of a flexible member such as rubber. Therefore, when the probe unit 12 extends and moves in the extending direction, for example, the direction indicated by the two-dot chain line in the figure, the probe unit 12 may collide with the adhesive supply tube 26 and the air supply tube 32. The two tubes do not become obstacles to movement by bending.
[0036]
The procedure for attaching the adhesive to the probe surface 16 with this configuration is as follows. First, the probe surface 16 is positioned directly below one end of the air supply tube 32 by the above-described operation (see FIG. 1). Then, air is blown from the air supply tube 32 to the probe surface 16 to remove deposits on the probe surface 16. Next, the adhesive agent is dropped onto the probe surface 16 from the adhesive agent supply tube 26. Thereby, the probe surface 16 is covered with the adhesive. The contact agent eliminates a gap generated between the probe surface 16 and the rehabilitating pipe FRP portion 14 when the probe surface 16 is brought into contact with the inner wall of the pipe, and noise of ultrasonic pulses caused by the existence of the gap. It is a general adhesion agent for erasing.
[0037]
Next, the traveling mechanism 62 for moving the apparatus main body 10 is mainly composed of wheels 54 indicated by broken lines (see FIG. 1). The wheel 54 may be driven by a drive motor (not shown) or connected to another moving device and pulled. With the above configuration, the rehabilitation pipe FRP unit 14 is inspected at an arbitrary position.
[0038]
In the present embodiment, the location of the apparatus main body 10 in the rehabilitation pipe is detected by measuring the moving distance of the apparatus main body 10, and the distance measuring unit 58 shown in FIG. This is done by measuring the distance. The distance measuring unit 58 includes a rotating unit 60. The rotating unit 60 is grounded to the inner wall of the rehabilitating pipe FRP unit 14, and the moving distance of the apparatus main body 10 in the rehabilitating pipe 11 is measured by the rotation.
[0039]
On the other hand, when the probe unit 12 is brought into contact with the rehabilitation tube FRP unit 14 by the probe unit moving mechanism 18, the strength of the contact is adjusted by balancing the forces of the spring 23, the air cylinder 20, and the air cylinder 22. . Further, in order to prevent the apparatus main body 10 from becoming unstable due to the pressing force of the probe unit 12 and being unable to perform accurate measurement, an apparatus fixing mechanism 48 is provided to maintain the apparatus main body 10 in a stable state. . The device fixing mechanism 48 includes an outrigger 52 and an outrigger jack 50 (see FIG. 1), and an extension portion 56 of the outrigger jack 50 extends substantially vertically upward and comes into contact with the rehabilitation pipe FRP portion 14 with a predetermined contact force. .
[0040]
FIG. 5 shows a state where the apparatus main body 10 is regulated by the apparatus fixing mechanism 48 as viewed from the right side of FIG. The extension part 56 of the outrigger jack 50 extends vertically upward and comes into contact with the rehabilitation pipe FRP part 14 as shown by the dotted line in the figure, thereby generating a predetermined contact force.
[0041]
This contact force is transmitted to the outrigger 52 via the joint 51 that supports the outrigger jack 50, and further transmitted to the wheels 54 that support the apparatus main body 10. That is, since a force acts in the direction indicated by the arrow 300 from the outrigger jack extending portion 56 and the wheel 54 to the rehabilitated pipe FRP portion 14, the apparatus main body 10 can be maintained in a stable state. Further, the portion of the wheel 54 that contacts the inner wall of the rehabilitated pipe FRP part 14 is tapered to ensure contact of the wheel 54 with the inner wall of the rehabilitated pipe FRP part 14.
[0042]
FIG. 6 shows an external configuration example of the apparatus main body 10. The apparatus main body 10 configured in this way is inserted into the rehabilitation pipe 11 and the rehabilitation pipe FRP unit 14 is inspected.
[0043]
FIG. 7 is a perspective view showing another embodiment of a configuration in which the probe surface 16 of the rehabilitation tube inspection apparatus according to the present invention is brought into contact with the rehabilitation tube FRP part. In the present embodiment, the probe unit 12 is held by the holding unit 68.
[0044]
FIG. 8 is a side view of the configuration shown in FIG. As shown in the figure, the probe unit 12 is fixed to the joint 19 and held by a holding unit 68 that moves up and down so as to be angularly displaceable. The holding portion 68 includes a so-called ball bearing 70 having a concave spherical surface, and a rotating body 72 having a convex spherical surface is fixed to the probe portion 12 on the probe portion side, and both spherical surfaces are in surface contact. It is attached as follows. For ease of explanation in FIG. 8, the rotating body 72 and the probe portion 12 existing inside the ball bearing 70 are shown by solid lines.
[0045]
Further, the probe unit 12 is provided with an angle correcting protrusion 76 at the upper position. In the present embodiment, the angle correcting protrusion 76 is configured as a cylindrical protrusion. What is important is the height position of the tip of the angle correcting protrusion 76, which is set to be slightly lower than the height position of the probe surface 16 of the probe unit 12.
[0046]
In other words, this height position is a position where the angle correction protrusion 76 effectively acts when the probe 12 is beyond a range where the probe 12 is inclined by a predetermined angle or more and an appropriate inspection can be performed. More specifically, when the probe unit 12 is inclined at a predetermined angle or more, first, the angle correction protrusion 76 collides with the rehabilitation tube FRP unit 14, thereby causing the probe unit 12 to be in contact with the rehabilitation tube FRP unit 14. This is a height position where the angle can be corrected so as to face each other at a more appropriate angle.
[0047]
The operation of the embodiment configured as described above will be described below with reference to FIGS. 9 (A) and 9 (B). FIG. 9 is a view showing a state in which the probe unit 12 held by the holding unit 68 is moved to contact with the rehabilitated tube FRP unit 14 by a probe unit moving mechanism 18 (not shown). For example, as shown in FIG. 6A, when the moving direction of the probe unit 12 is deviated by a predetermined amount or more from the direction orthogonal to the contact surface of the rehabilitating tube FRP unit 14, the angle is corrected first. The protrusion 76 and the rehabilitation pipe FRP part 14 collide. Due to this collision, the rotating body 72 turns a predetermined angle with respect to the ball bearing 70 so as to reduce the angle θ, and the angle is corrected. As a result, the probe 16 can finally be accurately inspected.
[0048]
Further, when the inclination angle θ is smaller than a certain amount, that is, when correction is not necessary, the probe surface 16 does not collide with the angle correction projection 76 and the rehabilitation pipe FRP part 14 first, and the renewal pipe FRP part. 14 is contacted. Even in this case, the angle may be slightly corrected by the contact pressure of the probe surface 16. Thus, in the present embodiment, the probe unit 12 can be accurately and reliably brought into contact with the rehabilitation tube FRP unit 14. For ease of explanation, the rotating body 72 and the probe 12 that exist inside the ball bearing 70 and the probe 12 that exists inside the angle correction projection 76 are shown by solid lines.
[0049]
Next, a method for measuring the thickness of the rehabilitation pipe FRP unit 14 using the apparatus main body 10 shown in FIG. 1 will be described. First, the apparatus main body 10 is caused to travel in the rehabilitation pipe 11 by the traveling mechanism 62 and moved to the measurement location. After the adhesive agent is automatically supplied to the probe surface 16 from the adhesive agent supply unit 24, the probe unit 12 is rotated in the inner circumferential direction of the rehabilitation pipe 11 by the turning mechanism 30 while the probe is detected by the angle detection unit 46. The turning angle of the touch part 12 is detected. Then, the probe surface moving mechanism 18 brings the probe surface 16 into contact with the rehabilitation pipe FRP unit 14 and measures the thickness of the rehabilitation material coating. After the measurement, the probe 12 is moved backward by the probe moving mechanism 18 and turned in the inner circumferential direction of the rehabilitation pipe 11 by the turning mechanism 30, and the above steps are repeated. The method of measuring the thickness of the rehabilitating tube FRP unit 14 is the same even when the apparatus main body 10 includes the holding unit 68 shown in FIG. 7. In this case, the rehabilitating tube FRP unit 14 of the probe surface 16 is moved to. Better contact conditions are achieved more quickly.
[0050]
Next, a rehabilitation pipe inspection system using the above inspection apparatus will be described. FIG. 10 shows an outline of the rehabilitation pipe inspection system according to the present invention. As shown in the figure, a control unit 92 that controls the operation of each part of the above-described rehabilitation tube inspection device from the outside of the rehabilitation tube 11, an ultrasonic inspection device 94 that analyzes transmission / reception data of ultrasonic pulse signals of the probe unit, It is equipped with. Further, an oscilloscope 98 that is a visual confirmation device for ultrasonic pulses and a computer 96 for analyzing and processing the ultrasonic pulse data are provided.
[0051]
The procedure for inspecting the inside of the rehabilitation pipe 11 by this system is as follows. First, the apparatus main body 10 is inserted into the rehabilitation pipe 11 and traveled rightward in the figure by a traction device (not shown). At this time, for example, as shown in the figure, a TV camera 88 can be connected to the front of the apparatus main body 10 and run while visually checking the status of the apparatus main body 10. Operation control of the apparatus main body 10 is performed by the control unit 92 via the cord 90 from the outside of the rehabilitation pipe. The transmission of the ultrasonic pulse described above is performed by input from the control unit 92, and the received ultrasonic pulse with respect to the transmitted ultrasonic pulse is converted into an electrical signal by the probe unit 12 (see FIG. 1). 94.
[0052]
Then, ultrasonic data such as a time difference between the transmission pulse and the reception pulse is sent to the computer 96 via the ultrasonic inspection device 94. The distance of movement of the apparatus body 10 in the rehabilitation pipe 11 in the length direction and the inspection angle of the probe section 12 in the inner direction of the rehabilitation pipe are detected by a distance measurement unit 58 and an angle detection unit 46 provided in the apparatus body 10, respectively. And sent to the computer 96 (see FIG. 1). The data sent to the computer 96 is analyzed in the computer 96, and the waveform of the transmitted ultrasonic pulse and the received ultrasonic pulse is checked by an oscilloscope 98. By such a system, it is possible to perform an ultrasonic inspection of the rehabilitation tube while comprehensively confirming it simultaneously. The electric power for operating these devices is mainly supplied from the power supply box 100.
[0053]
The configuration of the present invention is not limited to the configuration of each of the above embodiments, and various modifications can be made within the scope of the gist of the invention. For example, in the present embodiment, the measurement of the moving distance of the apparatus main body 10 is performed by the distance measuring unit 58, but it is also possible to measure the laser distance from the outside of the rehabilitation tube 11. In addition, the inspection object is not limited to FRP, and it is needless to say that the inspection object can be applied to various rehabilitation pipe coating materials that can be inspected by ultrasonic waves.
[0054]
【The invention's effect】
As described above, according to the rehabilitation pipe inspection apparatus and inspection method according to the present invention, even if the rehabilitation pipe is difficult to check by human means, the thickness of the inner wall portion thereof can be automatically and quickly. Can be inspected. By easily obtaining rehabilitation pipe data in this way, it is possible to contribute to improving the quality of rehabilitation pipe construction.
[Brief description of the drawings]
FIG. 1 is an explanatory view showing a schematic configuration of a rehabilitation tube inspection apparatus main body according to the present invention.
2 is an enlarged view of a probe moving mechanism of the rehabilitation tube inspection apparatus main body of FIG. 1; FIG.
FIG. 3 is a perspective view showing an outline of a probe unit moving mechanism.
4 is a plan view showing an outline of a turning of a probe unit and a probe unit moving mechanism as viewed from the left side of FIG. 1;
5 is a plan view showing an outline of operation of the device fixing mechanism as viewed from the right side of FIG. 1; FIG.
FIG. 6 is a perspective view showing an outline of inspecting the rehabilitation pipe FRP portion by inserting the apparatus main body according to the present invention into the rehabilitation pipe.
FIG. 7 is a perspective view showing another embodiment of the configuration in which the probe surface of the rehabilitation tube inspection apparatus according to the present invention is brought into contact with the rehabilitation tube FRP part.
8 is a side view of the configuration shown in FIG.
FIG. 9 is a view showing an aspect in which a probe held by a probe holding ring is moved and brought into contact with a rehabilitation tube FRP by a probe moving mechanism (not shown).
FIG. 10 shows an outline of a rehabilitation pipe inner wall inspection system according to the present invention.
FIG. 11 is a cross-sectional view illustrating a cross section of a rehabilitation pipe.
[Explanation of symbols]
10 Device body
12 Probe section
14 Rehabilitation pipe FRP part
16 Probe surface
18 Probe moving mechanism
24 Adhesive supply section
30 Turning mechanism
46 Angle detector (encoder)
48 Device fixing mechanism
58 Distance measurement unit
60 Rotating part
62 Traveling mechanism
68 Holding part
76 Angle correction protrusion
92 Control unit
94 Ultrasonic inspection equipment
98 oscilloscope

Claims (9)

A probe unit having a probe surface for transmitting and receiving ultrasonic pulses in the apparatus body;
A probe moving mechanism for moving the probe to bring the probe surface into contact with the inner wall surface of the rehabilitation tube;
A turning mechanism for turning the probe in the inner circumferential direction of the rehabilitation pipe;
An angle detector for detecting a turning angle of the probe by the turning mechanism;
An adhesive agent supply unit for supplying an adhesive agent to the probe surface of the probe unit before contacting the inner wall surface;
A rehabilitation pipe inspection device characterized by comprising: A traveling mechanism for moving the apparatus body within the rehabilitation pipe;
Position detecting means for detecting the position of the apparatus body in the rehabilitation pipe;
The rehabilitation tube inspection device according to claim 1, comprising: The adhesion agent supply unit
The rehabilitation tube inspection apparatus according to claim 1, further comprising an adhesion agent feeding mechanism that drops and adheres a predetermined amount of adhesion agent onto the probe surface. The said adhesive agent supply part has an air supply means which injects air to the said probe surface, before making the said adhesive agent adhere on a probe surface, The Claim 1 characterized by the above-mentioned. Rehabilitation tube inspection device. The rehabilitation pipe inspection apparatus according to claim 1, further comprising an apparatus fixing mechanism that sets the apparatus main body in a fixed state in the rehabilitation pipe. The probe section is
It is held by the probe holding unit that is held in a freely angular displacement state and is attached to the probe moving mechanism,
Around the probe surface is a height of a tip portion that collides with the inner wall surface of the rehabilitation tube before the probe surface when the probe unit is moved to the inner wall surface of the rehabilitation tube at an inclination angle of a predetermined angle or more. The rehabilitation tube inspection apparatus according to claim 1, further comprising an angle correction protrusion that corrects a contact angle of the probe by the collision. The rehabilitation tube inspection apparatus according to claim 6, wherein the probe holding unit is formed as a bearing unit that contacts each other on a spherical surface with the probe. The rehabilitation pipe inspection device according to any one of claims 1 to 7,
A controller that controls the operation of each part of the rehabilitation pipe inspection device from the outside of the rehabilitation pipe;
A rehabilitation tube inspection system, comprising: an ultrasonic inspection apparatus that analyzes and transmits transmission / reception data of an ultrasonic pulse signal of the probe section. A rehabilitation tube inspection method using a rehabilitation tube inspection device provided with a probe portion having a probe surface that performs transmission and reception of ultrasonic pulses on the device body,
The device body is moved to the measurement location by traveling in the rehabilitation pipe by a traveling mechanism,
This measurement location is detected by the position detection means,
In the measurement location, the adhesive agent is automatically supplied from the adhesive agent supply unit to the probe surface of the probe unit,
The probe is moved by a probe moving mechanism so that the probe surface contacts the inner wall surface of the rehabilitation tube,
Measure the thickness of the rehabilitation material coating by transmitting and receiving the ultrasonic pulse,
After the probe is moved backward by the probe moving mechanism, the turning mechanism is turned by a predetermined angle in the inner circumferential direction of the rehabilitation pipe,
At the angular position, supply of the adhesive to the probe surface, contact of the probe surface to the inner wall surface of the rehabilitation tube, measurement of the covering portion thickness, retreat of the probe portion,
The angle detection unit detects the turning angle of the probe unit,
A rehabilitation pipe inspection method using a rehabilitation pipe inspection apparatus, wherein a series of thickness measurements are performed at the measurement location by repeating the above steps over a plurality of turning angles at the measurement location.

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