JP2005070003A - Method and apparatus for inspecting structure - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To allow measuring hardness of a structure placed underwater. <P>SOLUTION: An inspection apparatus inspects the hardness of the structure partially placed underwater. An impression is formed on the structure 1 by an indenting needle 5. A first piston 7 is attached to the indenting needle. The indenting needle and the first piston are accommodated in an indentation vessel 3. A replica liquid storing vessel 14, having a nozzle 12, is held in the indentation vessel. A second piston 15 is held in the replica liquid storing vessel. The first piston is pressurized by first pressurizing means 9, 10. The second piston is pressurized by a second pressurizing means 18. The indentation vessel is remotely operated by a remote operation means. The remote operation means has a control means for controlling pressure of the first and second pressurizing means. Pressing of the indenting needle to the structure and of spraying a replica liquid from the nozzle are exclusively implemented. <P>COPYRIGHT: (C)2005,JPO&NCIPI

Description

  The present invention relates to an inspection apparatus and an inspection method for inspecting a state of a structure from a remote location, and more particularly to an inspection apparatus and an inspection method for a structure suitable for remotely inspecting a structure in water such as nuclear power generation equipment. .

  An example of a conventional inspection method for a structure is described in Patent Document 1. In this publication, in order to increase the reliability of the soundness of a nuclear power plant, the toughness of the vessel inner surface covering material in the core region of the reactor vessel is monitored. In the method, the step of polishing the surface of the coating material using a surface polishing apparatus, the step of measuring the hardness of the polished coating material surface using a hardness measuring instrument, and the toughness / hardness of the coating material Determining the toughness of the coating material from the surface hardness of the coating material measured using the specific correlation.

JP 11-326578 A

  In the monitoring method described in Patent Document 1, various tools and jigs called chips are attached to the tip of a shaft driven by remote operation to measure the hardness of the target part, and polishing and welding are performed. Yes. By the way, in order to perform polishing work and welding work in water, unlike working in the air, it is necessary to prevent scattering of shavings and flux, etc., but in this publication, sufficient consideration is given to them. Not. Furthermore, when trying to measure the hardness in water, it is difficult to measure the hardness under the same conditions as in the atmosphere. At the same time, work efficiency becomes worse. Therefore, a new technique is required for measuring the hardness in water, but this is not fully disclosed in this publication.

  The present invention has been made in view of the above problems of the prior art, and an object of the present invention is to make it possible to measure the hardness of a structure placed in water.

  A feature of the present invention that achieves the above object is that, in an inspection method for inspecting a structure in which at least a part is placed in water, a hardness measuring indenter needle is previously remote-operated on the part of the structure placed in water. Press with a predetermined load or press so that the indenter needle for hardness measurement is displaced by a predetermined amount, and press the indenter needle to transfer the indentation formed on the structure to the replica material by remote control. The size of the indent created and transferred to this replica is measured, and the hardness of the structure is obtained based on the measured size of the indent and the load when the indenter needle is pressed.

  And in this feature, when forming the indentation on the structure, pressurize the piston attached to the indenter needle with a fluid of a predetermined pressure and press the indenter needle perpendicularly to the surface of the structure to form the indentation, When transferring to the replica material, the piston provided in the storage chamber having the nozzle that stores the replica liquid should be driven by the fluid pressure to supply the replica liquid to the indentation surface of the structure. When forming, it is preferable to pressurize a plurality of indenters simultaneously and press the plurality of indenters substantially perpendicularly to the surface of the structure using the indenter needle bearing as a guide. Also, the indentation may be formed by differentiating the diameter of the piston attached to the indenter needle in the previous indentation formation and the next indentation formation. Indentations may be formed by applying different pressure fluids to indenter needles having different piston diameters. Furthermore, it is preferable to polish the surface of the structure after creating the replica to remove the indentation from the surface of the structure so that the structure can be put to practical use.

  Another feature of the present invention that achieves the above object is an inspection apparatus for inspecting a structure that is at least partially placed in water, and an indenter needle that forms an indentation in the structure, and a first attached to the indenter needle. An indenter container containing the indenter needle and the first piston, a replica liquid storage container held in the indenter container and having a nozzle portion, a second piston held in the replica liquid storage container, A first pressurizing unit that pressurizes the first piston, a second pressurizing unit that pressurizes the second piston, and a remote operation unit that remotely operates the indenter container are provided. The pressure means and the control means for controlling the pressure of the second pressure means are provided, and the pressing of the indenter needle to the structure and the injection of the replica liquid from the nozzle are performed exclusively.

  In this feature, an indenter needle bearing for supporting the indenter needle is provided, and it is desirable to press the indenter needle substantially perpendicularly to the surface of the structure using this bearing as a guide. A plurality of indenter needles are accommodated in the indenter container. May be. The plurality of indenter needles may include ones having different diameters, and the first pressurizing means may change the pressure according to the diameter of the indenter needles.

  Still another feature of the present invention that achieves the above object is an inspection apparatus that inspects a structure that is at least partially placed in water, and that houses a plurality of indenter needles that form indentations in the structure, and the indenter needles An indenter container, a storage container held in the indenter container and capable of ejecting a replica liquid, and a remote operation means for remotely operating the indenter container are provided. The remote operation means includes a plurality of indenter needles and a replica liquid in the storage container. Has a control means for extruding to the surface of the structure exclusively.

  According to the present invention, the indenter needle stored in the container and the replica liquid stored in the replica liquid storage container are exclusively pressed by remote operation and pressed against the surface of the structure. Indentation by an indenter needle can be transferred, and the hardness of structures in water can be measured by remote control. Moreover, the soundness of the structure can be ensured after the hardness evaluation of the structure.

Embodiments of the present invention will be described below with reference to the drawings.

  FIG. 1 is a longitudinal sectional view of an inspection apparatus 50 for a structure 1. The inspection apparatus 50 measures Vickers hardness as a mechanical property of the surface 2 of the structure 1. An indenter needle 5 for measuring Vickers hardness is housed in a rectangular container 3. A container pressing mechanism 4 is located on a surface opposite to the surface of the container 3 facing the structure 1, and the container pressing mechanism 4 presses the container 3 against the structure surface 2 from the side surface of the container 3.

  In FIG. 1, the left side surface of the container 3 is open, and a large number of indenter needles 5 having Vickers indenters formed at the tip thereof are arranged at substantially equal intervals in the opening. A bearing cylinder 6 is disposed on the right side of the axially intermediate portion of the indenter needle 5 so as to hold the indenter needle 5 substantially perpendicular to the structure 1 and to move the indenter needle 5 to the left and right. The bearing cylinder 6 has a bearing portion 6a and a cylinder portion 6b, and the bearing portion 6a has a smaller inner diameter than the cylinder portion 6b. A piston 7 fitted to the cylinder portion 6b is attached to the end of the indenter needle 5 on the bearing cylinder 6 side. Since the piston 7 is attached to one end of the indenter needle 5 and the inner diameter of the bearing cylinder 6 is different between the bearing portion 6a and the cylinder portion 6b, the indenter needle 5 does not fall outside.

A rectangular air pressure control chamber 8 is connected to the back side of the bearing cylinder 6. Compressed air is introduced into the air pressure control chamber 8 through an air supply nozzle 9 and an air supply pipe 10. Air pressure P ₁ of the compressed air is controlled to a predetermined size by a control unit (not shown). Before the surface inspection of the structure 1 is started, the pressure P ₁ in the pneumatic control chamber 7 is set lower than the pressure P ₀ outside the inspection apparatus 50. At this time, the piston 7 is drawn into the air pressure control chamber 7, and the indenter needle 5 is drawn inside the inspection device 50.

During surface inspection of the structure, the control device supplies compressed air having a pressure P ₂ higher than the external pressure P ₀ of the inspection device 50 to the pneumatic control chamber 8 via the air supply nozzle 9 and the air supply pipe 10. As a result, the indenter needle 5 is pushed out to the structure 1 side and pressed against the structure surface 2. The pressing load is obtained from the following equation.
(Load) = (Air control chamber pressure-External pressure) x (Piston circular area)
Since the air pressure P in the air pressure control chamber 8 is maintained at a predetermined magnitude, a predetermined load is applied to the indenter needle 5 and the indenter needle 5 is pressed against the structure surface 2 with a predetermined load. In this embodiment, the air pressure control chamber 8 provided on the back side of the indenter needle 5 supplies compressed air to the pistons 7 of the many indenter needles 5, 5,. Therefore, if only the air pressure in the air pressure control chamber 8 is controlled, the pressing loads of a large number of indenter needles 5 can be controlled simultaneously. Therefore, the pneumatic control system can be reduced.

  In the embodiment shown in FIG. 1, two pneumatic control chambers 8 are provided on the upper and lower sides. In this case, if the air pressure is varied for each of the plurality of air pressure control chambers 8, the surface state of the structure 1 can be inspected under a plurality of load conditions. For example, if the pressure in the upper air pressure control chamber 8 in FIG. 1 is made larger than the pressure in the lower air pressure control chamber 8, the pressing amount of the indenter needle 5 against the surface 2 of the structure 1 becomes larger on the upper side. The indenter needle 5 is pressed against the surface 2 of the structure 1 for a predetermined time to complete the inspection. When the inspection is completed, the air pressure in the air pressure control chamber 8 is made lower than the external pressure of the inspection device 50. The indenter needle 5 is drawn into the inspection device 50.

  The main part of the replica collection device 60 is disposed on the back side of the pneumatic control chamber 8 of the inspection device 50. The replica collection device 60 supplies a replica liquid to the surface 2 of the structure 1 and passes between the two pneumatic control chambers 8, and an indenter needle 5 and a replica supply nozzle arranged on the surface side of the structure 1. 12 includes a replica collection sponge 11 that fills a gap between 12 and supply means 61 that stores the replica liquid and supplies the replica liquid to the surface 2 of the structure 1.

  The replica liquid is a two-liquid mixed type, and the supply means 61 is formed with a replica curable liquid storage chamber 13 and a replica main liquid storage chamber 14 for storing the respective liquids. A replica hardening liquid extrusion piston 15 and a replica main liquid extrusion piston 16 are disposed on the back side of each of the chambers 13 and 14 in order to extrude each liquid. Each of these pistons 15 and 16 is connected to a piston connecting jig 18, and the pistons 15 and 16 are integrally driven by the connecting jig 18. An air cylinder 17 is connected to the connecting jig 18, and compressed air adjusted through first and second air pressure adjusting pipes 19 and 20 connected to the connecting jig 18 from a control device (not shown). Supplied.

  At the time of the inspection for forming the indentation as described above, the air cylinder 17 drives and holds the pistons 15 and 16 in the right direction in the drawing so that the replica liquid is not pushed out of the replica collection device 60. Therefore, the air pressure of the first air pressure adjusting pipe 19 is set lower than the air pressure of the second air pressure adjusting pipe 20. When the formation of the indentation is completed and the indenter needle 5 is drawn into the inspection apparatus, the air pressure of the first air pressure adjusting tube 19 is made higher than the air pressure of the second air pressure adjusting tube 20.

  In this state, the piston coupling jig 18 moves to the left side, and the replica hardening liquid extrusion piston 15 and the replica main liquid extrusion piston 16 are driven to the left side. Since the pistons 15 and 16 have moved, the replica hardening liquid in the replica hardening liquid storage chamber 13 and the replica main liquid in the replica main liquid storage chamber 14 are supplied from the replica supply nozzle 12 to the surface 1 of the structure 2. At that time, the replica curing liquid and the replica main liquid are mixed by the mixing means formed in the replica supply nozzle 12.

  The replica liquid pushed out from the nozzle 12 is adjusted to an appropriate pressing force by the replica pressing sponge 11. If the replica liquid mixed for a predetermined time is held in this state, the replica liquid is cured and a replica is formed. When the replica is formed, the inspection apparatus 50 is pulled back to a position where the inspector can collect it using a remote operation means (not shown). The inspector on the ground collects the replica. The replica is transferred with a characteristic shape of the surface of a structure such as a welded portion, a shape such as a crack, and an indentation formed at the time of inspection.

  A modification of the present invention is shown in FIG. This modification is different from the embodiment shown in FIG. 1 in that the pressure receiving area of the piston 7 attached to the indenter needle 5 is changed for each indenter needle 5. That is, four types of pistons 21 a to 21 d having different pressure receiving areas are attached to the tip portions of a number of indenter needles 5. Accordingly, four types of bearing cylinders 23a to 23d having different inner diameters of the cylinder portions 22a to 22d are prepared. The pistons 21a to 21d are fitted into the corresponding bearing cylinders 23a to 23d. The air pressure control chamber is arranged on the back side of each piston 21a to 21d, as in the embodiment shown in FIG. Also, a replica collection device similar to that shown in FIG. 1 is used.

When compressed air with a predetermined pressure is supplied to the pneumatic control chamber 8, a load corresponding to the diameter of the piston is applied to the indenter needle 5 having a piston with a different outer diameter. Therefore, if the pressure of the pressurized air supplied to the pneumatic control chamber 8 and the diameters of the pistons 21 a to 21 d are set to predetermined dimensions, different pressing loads can be applied to the indenter needles 5. The pressing load of each indenter needle 5 at this time is expressed by the following equation as in the embodiment shown in FIG. The method of collecting the replica after forming the indentation is the same as the embodiment shown in FIG.
(Load) = (Air control chamber pressure-External pressure) x (Piston circular area)
FIG. 3 shows an AA arrow view of the inspection apparatus 50 shown in FIG. 1 or FIG. A replica collection sponge 11 is filled in the rectangular container 3 of the inspection apparatus 50. The replica supply nozzle 12 is provided at a substantially central portion of a rectangle that is a position suitable for replica collection. A number of indenter needles 5 are arranged at substantially equal intervals in the vertical and horizontal directions at positions where the replica supply nozzles 12 are not arranged. Thus, the nozzle 12 and the indenter needle 5 are arranged to avoid mutual interference.

  The replica to which the surface state of the structure 1 is transferred proceeds to the next process of inspection. This will be described with reference to FIG. A replica collected using the inspection apparatus 50 is observed by a replica observation apparatus 31 having a microscope 31 a as the collection replica 30. First, the collection replica 30 is placed on the observation stage 31b and observed with the microscope 31a. The replica observation apparatus 31 is connected to a data analysis apparatus 32 that performs observation and measurement, data analysis, and data storage. An observation monitor 33 is connected to the data analysis device 32. An observation image of the replica detected by the observation device is displayed on the observation monitor 33 via the data analysis device 32.

  The replica observation image includes both the features of the surface form represented by the welded portion 34 and the defects and indentations 36 represented by the crack 35. A scale 37 for measuring the indentation size is displayed on the observation monitor 33, and the dimensions of the indentation 36 are simply measured using the data analysis 32. Vickers hardness or micro Vickers hardness is calculated from the size of the indentation and the pressing load when the indentation is formed. When the replica is observed as in the present embodiment, the positional relationship between the hardness of the structure surface 2 and the welded portion, crack, or the like can be evaluated. Moreover, since the position where the indentation is formed can be accurately grasped, the hardness distribution of the structure surface 2 can be accurately positioned.

  FIG. 5 shows how the structure 40 is inspected remotely using the inspection apparatus 50 shown in FIG. 1 or FIG. The structure 40 is a container 40 in which water 41 is stored. The container pressing device 44 is attached to the inspection jig 43 and is submerged in water. An arm-shaped remote control device 44 a is attached to the container pressing device 44. An inspection device 50 is attached to the tip of the remote control device 44a. When the container pressing device 44 is driven, the inspection device 50 is pressed against the surface of the container 40.

  A compressed air supply manifold 47 serving as a driving source for driving the container pressing device 44 and the inspection device 50 is provided on the upper surface of the container 40 on the ground side. Compressed air is supplied to the manifold 47 from a compressor 48 provided separately from the manifold 47. A first air pressure control indoor pressure control valve 49, a second air pressure control indoor pressure control valve 42, a first air cylinder pressure control valve 51, and a second air cylinder pressure control valve 52 are attached to the compressed air supply manifold 47. . The first air pressure control indoor pressure control valve 49 and the second air pressure control indoor pressure control valve 42 are connected to the respective air supply pipes 10. The first air cylinder pressure control valve 51 is connected to the first air pressure adjusting pipe 19, and the second air cylinder pressure control valve 52 is connected to the second air pressure adjusting pipe 20. An operator 46 on the ground uses the inspection control device 45 to drive the inspection device 50 by remote operation. FIG. 6 shows a procedure for surface inspection, observation and evaluation of a structure using the inspection apparatus and control apparatus described above.

  When inspecting the surface properties of the underwater structure, first, which part of the structure 50 is to be inspected is set in advance (step 610). In this case, a drawing or the like is input to the inspection control device 45 in advance, and the operator 46 determines the position from the inspection control device 45. Based on the deterioration prediction of the surface property of the structure 50, the operator 46 sets a measurement load (step 620). The operator 46 can also determine the load with reference to past experimental data stored in the inspection control device 45.

  Since the measurement load on the indenter needle 5 is determined, the indenter needle 5 and the piston 7 corresponding to the load are incorporated into the inspection device 50 (step 630). Next, the water pressure of the underwater structure 1 is determined from a pressure gauge (not shown) or water depth (step 640). This is used to determine the load to the indenter needle 5 and the supply pressure of the compressed air used for supplying the replica liquid.

  The operator 46 determines the pressure to be applied to the pneumatic control chamber 8 from the relationship between the pressure in the pneumatic control chamber 8 stored in the inspection control device 45 and the pushing amount of the indenter needle 5 using the water pressure obtained in step 640. (Step 650). At that time, the pressure applied to the air cylinder of the replica liquid is also determined. The operator 46 operates the first air pressure control chamber pressure control valve 49 and the second air pressure control chamber pressure control valve 42 to set the pressure applied to the back surface of the indenter needle 5 to a negative pressure (step 660).

  The operator 46 lowers the container pressing device 44 to a predetermined depth using the inspection jig 43 as a guide, and drives the arm-shaped remote operation device 44a to position the inspection device 50 at a predetermined position. Thereafter, the remote control device 44a is commanded to press the inspection device 50 against the set position of the target structure 1 (step 670). Since the setting of the inspection apparatus 50 is completed, the measurement is started.

  The operator operates the first and second air pressure control chamber pressure control valves 49 and 42 to supply the compressed air having the previously obtained pressure to the air pressure control chamber 8 of the inspection device 50 (step 680). The time during which the specified pressure is supplied to the pneumatic control chamber 8 is measured (step 690). When the pressure supply time reaches a preset time, the first and second pneumatic control chamber pressure control valves 49 and 42 are operated. Then, the pressure in the air pressure control chamber 8 is set to a negative pressure (step 700).

  Since the indentation is formed on the surface 2 of the structure 1, the indentation is transferred to the replica. Therefore, compressed air is supplied to the air cylinder 17. The operator 46 operates the first and second air cylinder pressure control valves 51 and 52 to drive the piston coupling jig 18 to supply the replica supply nozzle 12 or the mixed replica liquid to the surface 2 of the structure 1. (Step 710). The piston coupling jig 18 is continuously pressed with compressed air for the time until the replica liquid is cured (step 720).

  When the replica liquid is hardened after a predetermined time has elapsed, the pressing of the remote operation device 44a against the inspection device 50 is released, and the container pressing device 44 is pulled up from the water using the inspection jig 43 as a guide (step 730). A collection replica is taken out from the inspection apparatus 50 (step 740). The surface property of the collected replica is observed using the replica observation device 31 or the like (step 750). Using the data analyzer 32 and the observation monitor 33, the size of the indentation formed by the indenter needle 5 transferred to the sampling replica is measured (step 760).

  The hardness of the structure 1 is calculated from the relationship between the indentation and the hardness stored in the data analysis device 32 (step 770). At that time, the hardness of the indentations formed by a large number of indenter needles 5 measured at the same time is also obtained by calculation. Steps 610 to 770 are repeated, and the hardness of the structure 1 at a plurality of locations is measured. From the hardness measurement results at multiple locations, the hardness distribution of the structure surface, the accuracy of the hardness value, the relationship between the surface morphology and hardness, the relationship between the defect distribution and hardness, and the like are evaluated (step 780).

  A method of ensuring the soundness of the structure after the inspection shown in FIG. 6 will be described with reference to FIG. The inspection device 50 includes a hardness measurement replica collection device 61 different from the replica collection replica device. The inspection device 50 also has a polishing device 62 for polishing and removing indentations formed on the surface of the structure 1a. An indentation is formed on the surface of the structure 1a by the procedure described above, and the indentation is measured by transferring the indentation to a replica. Thereafter, the surface of the structural container 40 is polished using the polishing apparatus 62 to remove the indentation.

  When removing the indentation, an appropriate polishing rate of the abrasive attached to the polishing apparatus 62 is obtained in advance using the same test material as that of the structure container 40. Polishing is performed until the polishing depth determined from the polishing amount calculated from the determined polishing rate and polishing time becomes sufficiently larger than the depth of the indentation. After the surface of the structure container 40 is polished, a replica of the surface of the polished structure container 40 is collected using the replica collection device 61 to confirm that no indentation or the like remains on the surface of the structure container 40. . This can prevent the progress of corrosion from the indentation.

  In the above embodiment, the underwater structure is a structure that is submerged in water, a structure that is partially submerged in water, and the surface of the structure is wet with water as shown in FIG. Including any container. That is, in the inspection of the underwater structure of the above embodiment, the inspector is remarkably restricted from approaching the surface of the structure, and is in a situation where it is necessary to inspect by remote operation.

  According to the present embodiment, since the inspection apparatus can be remotely operated even for a structure in water, the hardness can be easily measured with high accuracy. In particular, since a plurality of hardness data can be obtained in one inspection procedure, the hardness of the structure can be evaluated with high accuracy. Moreover, since the hardness of several places can be measured by one test | inspection, the hardness distribution of the structure surface is also obtained. According to the present embodiment, morphological features such as welds on the surface of the structure and defects such as cracks are transferred to the replica together with indentations and observed. For example, the position and hardness distribution of the welds A causal relationship can be easily obtained, such as a relationship between a defect and a hardness distribution.

It is a longitudinal cross-sectional view of one Example of the inspection apparatus which concerns on this invention. It is a figure explaining the usage method of the test | inspection apparatus shown in FIG. It is sectional drawing of the container with which the inspection apparatus shown in FIG. It is a figure explaining the observation method of the collection replica extract | collected with the test | inspection apparatus shown in FIG. It is a figure explaining the inspection method in water using the inspection apparatus shown in FIG. 3 is a flowchart of an inspection method according to the present invention. It is a longitudinal cross-sectional view of the other Example of the test | inspection apparatus based on this invention.

Explanation of symbols

DESCRIPTION OF SYMBOLS 1, 1a ... Structure, 2 ... Structure surface, 3 ... Container, 4 ... Container pressing mechanism, 5 ... Indenter needle, 6 ... Bearing cylinder, 7 ... Piston, 8 ... Air pressure control chamber, 9 ... Air supply nozzle, DESCRIPTION OF SYMBOLS 10 ... Air supply pipe, 11 ... Replica collection sponge, 12 ... Replica supply nozzle, 13 ... Replica hardening liquid storage chamber, 14 ... Replica main liquid storage chamber, 15 ... Replica hardening liquid extrusion piston, 16 ... Replica main liquid extrusion piston , 17 ... Air cylinder, 18 ... Piston coupling jig, 19 ... First air pressure adjusting pipe, 20 ... Second air pressure adjusting pipe, 21 ... Small bearing cylinder, 22 ... Small piston, 23 ... Large bearing cylinder, 24 ... Large piston , 30 ... Collection replica, 31 ... Replica observation device, 32 ... Data analysis device, 33 ... Observation monitor, 34 ... Welded part, 35 ... Crack, 36 ... Indentation, DESCRIPTION OF SYMBOLS 7 ... Scale for indentation dimension measurement, 40 ... (structure) container, 41 ... Water, 42 ... Second pressure control valve, 43 ... Inspection jig, 44 ... Container pressing device, 44a ... Remote operation device, 45 ... Inspection Control device 46 ... Operator 47 ... Compressed air supply manifold 48 ... Compressor 49 ... First pressure control valve 50 ... Inspection device 51 ... First air cylinder pressure control valve 52 ... Second air cylinder pressure control valve , 60: Replica device.

Claims (11)

  In an inspection method for inspecting a structure in which at least a part is placed in water, the indenter needle for hardness measurement is pressed by a predetermined load on the part of the structure placed in water with a predetermined load or for hardness measurement The indenter needle is pressed so as to be displaced by a predetermined amount, and the indentation needle is pressed to transfer the indentation formed on the structure to the replica material by remote control to create a replica, and the indentation transferred to this replica A method for inspecting a structure, characterized in that the dimensions are measured, and the hardness of the structure is obtained based on the measured dimensions of the indentation and the load when the indenter needle is pressed.   When forming an indentation on a structure, pressurize the piston attached to the indenter needle with a fluid of a predetermined pressure and press the indenter needle perpendicularly to the surface of the structure to form an indentation and transfer it to the replica material. 2. The structure according to claim 1, wherein a piston provided in a storage chamber having a nozzle that stores a replica liquid is driven by a fluid pressure to supply the replica liquid to an indentation forming surface of the structure. Inspection method.   3. When forming an indentation in a structure, a plurality of indenter needles are simultaneously pressed, and the plurality of indenter needles are pressed substantially perpendicularly to the surface of the structure using an indenter needle bearing as a guide. Inspection method of the structure as described in 1.   The method for inspecting a structure according to claim 2 or 3, wherein the indentation is formed by differentiating the diameter of the piston attached to the indenter needle between the previous indentation formation and the next indentation formation.   3. The structure inspection according to claim 2, wherein the plurality of indenter needles include those having different piston diameters, and indentations are formed by applying fluids having different pressures to the indenter needles having different piston diameters. Method.   In an inspection apparatus for inspecting a structure at least partially placed in water, an indenter needle that forms an indentation in the structure, a first piston attached to the indenter needle, the indenter needle, and the first piston , A replica liquid storage container having a nozzle portion held in the indenter container, a second piston held in the replica liquid storage container, and a first pressurizing the first piston. A pressure means, a second pressure means for pressurizing the second piston, and a remote control means for remotely operating the indenter container. The remote control means includes the first pressure means and the second pressure means. An inspection apparatus for a structure having a control means for controlling the pressure of the pressurizing means and exclusively performing the pressing of the indenter needle to the structure and the injection of the replica liquid from the nozzle.   The structure inspection apparatus according to claim 6, wherein an indenter needle bearing that supports the indenter needle is provided, and the indenter needle is pressed substantially vertically against the surface of the structure using the bearing as a guide.   The structure inspection apparatus according to claim 7, wherein a plurality of the indenter needles are accommodated in an indenter container.   9. The structure inspection apparatus according to claim 8, wherein the plurality of indenter needles include ones having different diameters, and the first pressurizing means is capable of changing the pressure according to the diameter of the indenter needles. .   In an inspection apparatus for inspecting a structure in which at least a part is placed in water, a plurality of indenter needles that form indentations in the structure, an indenter container that accommodates the indenter needles, and a replica liquid held in the indenter container And a remote control means for remotely operating the indenter container, the remote control means controlling the plurality of indenter needles and the replica liquid in the storage container exclusively to the surface of the structure. A structure inspection apparatus characterized by comprising means. The method for inspecting a structure according to claim 1, wherein after the replica is created, the surface of the structure is polished to remove the indentation from the surface of the structure, and the structure can be put to practical use.

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