JP2007187593A - Inspection device for piping and inspection method for piping - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To rapidly acquire measuring data necessary for calculating the cross section of piping. <P>SOLUTION: An annular track 1 is installed on the piping 3, joined at a welded part 2 and a circumferential movement device 6, is installed on the track 1 so as to be freely moved around the piping 3. A measuring instrument moving part 19 is moved in a piping axis direction along a shaft 14 from the circumferential movement device 6, and on the way of this movement, the displacement 23 and mounted on the measuring instrument moving part 19 and the vertical ultrasonic probe mounted on the measuring instrument moving part 19 as an ultrasonic probe 22 are used to measure of the outer surface of the piping 3 and the wall thickness (plate thickness) of the piping 3. The cross-sectional shape of the piping 3 is displayed by using the respective measuring results, and the vertical ultrasonic probe is subsequently replaced with an oblique angle ultrasonic probe to perform an ultrasonic flaw detection test within the previous measuring range. The test result is displayed so as to be superimposed on the display of the cross-sectional shape of the piping 3. <P>COPYRIGHT: (C)2007,JPO&INPIT

Description

  The present invention relates to a pipe inspection apparatus and a pipe inspection method capable of measuring a cross-sectional shape of a pipe.

  In piping inspections of various plants, automatic inspection devices are often used for shortening inspection time and highly accurate inspection.

  In general, an automatic pipe inspection device includes a main body equipped with a measuring instrument, a traveling device that travels the main body along the pipe outer peripheral direction, and moves the main body along the pipe axial direction to align with the pipe. It includes an axial movement device for performing the operation.

  In the inspection of welded parts, etc. of pipes, an automatic flaw detection test is performed using an ultrasonic probe as a measuring instrument. taking measurement. This is because the inspector determines whether or not the detected ultrasonic signal is defective by entering the reflection source position of the signal detected by the ultrasonic flaw detection test in the pipe cross-sectional shape.

  Moreover, when it is a defect, the cross-sectional shape of a welding part is needed for grasping | ascertaining a detailed defect height dimension. Conventionally, pipe cross-sectional shape is measured by pipe surface shape tracing using a mold gauge and pipe wall thickness measurement using an ultrasonic probe. It was performed by the procedure of calculating.

  Then, the presence or absence of a defect is determined in consideration of the pipe cross-sectional shape by a procedure of entering the result of ultrasonic flaw detection in the obtained pipe cross-sectional shape.

  An apparatus for measuring a pipe surface displacement by providing a distance detector in a pipe longitudinal direction moving device of an automatic inspection apparatus has been proposed (see, for example, Patent Document 1).

Japanese Patent Laid-Open No. 10-339617

  With the conventional method of entering the results of ultrasonic flaw detection on the pipe cross-sectional shape, there is a problem that it takes a lot of time to determine the measurement error and the presence or absence of defects due to the pipe cross-sectional shape based on manual measurement. It was.

  Moreover, in the thing of patent document 1, it is only a pipe surface shape measurement that is automated, and the procedure of performing pipe surface shape measurement and pipe wall thickness measurement individually must be taken into account, and pipe cross-sectional shape calculation is performed. Takes a lot of time.

  An object of the present invention is to make it possible to quickly know the cross-sectional shape of a pipe.

  A first means for achieving the object of the present invention includes a moving means for moving an ultrasonic probe in a circumferential direction and an axial direction of the pipe, and the ultrasonic probe along a shape of an outer surface of the pipe. A suspension equipped in the moving means so as to change the position of the probe; a position measuring means equipped in the moving means so as to measure a moving position of the ultrasonic probe; and the ultrasonic probe. The pipe inspection apparatus includes a displacement measuring unit that is mounted on the moving unit so as to be interlocked with the movement of the child and measures a change in shape of the outer surface of the pipe as a displacement.

  Similarly, the second means includes an annular track provided on the outer periphery of the pipe, a circumferential movement device that moves along the track, and a shaft that is provided on the circumferential movement device and is long in the axial direction of the pipe. A measuring instrument moving part that is movably mounted on the shaft so as to be guided by the shaft, a ball screw that is provided in the circumferential direction moving device and that feeds the measuring instrument moving part, and the measuring instrument movement A probe mounting portion provided to be displaced so as to follow a change in the shape of the outer surface of the pipe, an ultrasonic probe provided in the probe mounting portion, and the ultrasonic probe And a spring mounted between the probe mounting part and the measuring instrument moving part so as to press against the pipe side, and the measuring instrument moving part is equipped to displace a change in shape of the outer surface of the piping. A pipe inspection device equipped with a displacement meter .

  Similarly, the third means includes a step of measuring the displacement of the outer surface of the pipe, a step of measuring the wall thickness of the pipe, and a step of calculating a cross-sectional shape of the pipe from the measured displacement and the measured wall thickness. And a pipe inspection method comprising: performing an ultrasonic flaw detection test on the pipe; and displaying the ultrasonic flaw detection test result on the calculated pipe cross-sectional shape.

  According to the present invention, the measurement result of the shape of the outer surface of the pipe and the measurement result of the wall thickness of the pipe, which are necessary for creating the cross-sectional shape of the pipe, can be simultaneously obtained, so that the cross-sectional shape of the pipe can be quickly created. It is effective to achieve.

  The best mode for carrying out the invention is a pipe inspection apparatus using ultrasonic waves, a detachable track 1 mounted on the outer surface of the pipe 3, a movement along the track 1, and in the longitudinal direction of the pipe A circumferential movement device 6 having an extended shaft 14, a measuring instrument moving section 19 that moves along the shaft 14, and a probe measuring instrument moving section 19 are provided via an elastic body (for example, a spring 21). A probe mounting portion 20, an ultrasonic probe 22 provided in the probe mounting portion 20, a displacement meter 23 held by the measuring instrument moving portion 19, and the ultrasonic probe 22 A pipe inspection apparatus having means for calculating the axial cross-sectional shape of the pipe 3 orthogonal to the weld 2 from the wall thickness measurement result of the pipe 3 used and the measurement result of the outer surface displacement of the pipe 3 using the displacement meter 23 is there.

  This pipe inspection apparatus may be a measuring apparatus that measures the amplitude in the vertical direction of the ultrasonic probe 22, that is, the radial direction of the pipe 3, instead of the displacement meter 23.

  The pipe inspection apparatus preferably has an inclinometer 56 for measuring the inclination of the shaft 14 at the tip of the shaft 14 or a displacement meter for measuring the deflection of the shaft 14 at the tip of the shaft 14. .

  An inspection method according to the present invention includes a step of measuring a pipe surface displacement, a step of measuring a pipe wall thickness, a step of calculating a pipe cross-sectional shape from the pipe surface displacement and the pipe wall thickness, A step of performing an ultrasonic flaw detection test, and a step of displaying the ultrasonic flaw detection test result on the display of the pipe cross-sectional shape.

  The inspection object of this embodiment is a portion after the joining where the two pipes 3 are joined to each other by welding at the ends. The portion of the joint mark resulting from the welding is the welded portion 2. In the vicinity of the weld 2, due to the influence of welding heat, the cross-section of the pipe 3 after joining is reduced in diameter because the inner and outer surfaces of the pipe 3 that were flat before joining are changed as shown in FIG. 8, for example. In this direction, it is displaced (shown as surface displacement in FIG. 8). Moreover, the cross-sectional shape of the pipe 3 is deformed in the direction of reducing the diameter as shown in FIG. 8 by welding and the thickness of the pipe 3 is not uniform.

  In addition, defects are more likely to occur in the welded portion 2 and the pipe 3 in the vicinity thereof due to welding as compared with a portion that is not welded. Therefore, the presence or absence of the defect must be inspected by nondestructive inspection. As an example of nondestructive inspection, it is known to perform inspection using an ultrasonic flaw detector. When a defect is found in the inspection result, it is difficult to grasp where the defect exists in the pipe 3 unless the pipe cross section after deformation by welding is grasped.

  Therefore, when the vicinity of the welded portion 2 is an inspection target, it is important to grasp the shape of the cross section of the pipe 3 including the welded portion 2 deformed by welding joint or the like.

  The pipe inspection apparatus according to the present invention can quickly acquire data for grasping the cross section of the pipe 3 after joining. A first embodiment of the pipe inspection apparatus according to the present invention will be described below. That is, the ring-shaped track 1 is installed concentrically with the pipe 3 on the outer peripheral surface of the circular pipe so as to avoid a portion greatly deformed by welding. The track 1 is divided into two halves, and the track 1 is assembled in an annular shape around the outer periphery of the pipe 3 by mechanically connecting the respective divided ends.

  A rack 13 is annularly provided on the outer periphery of the track 1, and the rack 13 meshes with a circumferential movement device driving pinion 8 described later. In the track 1, screw holes 4 are formed on both sides of the rack 13 so as to avoid the rack 13, and are arranged in equiangular distribution at three positions around the periphery as shown in FIG. 2. A screw 5 is screwed into each screw hole 4, the screw 5 is rotated so as to protrude inside the track 1, and the protruding amount is adjusted to adjust the track 1 concentrically with the pipe 3. It can be mounted via a female screw 5. Grooves 10 are formed on both side surfaces of the track 1 so that ball portions of later-described ball plungers 11 and 12 are in contact with the groove 10 so that the circumferential movement device described below does not drop from the track 1.

  On the track 1, a circumferential movement device that moves around the outer periphery of the pipe 3 along the track 1 is installed as a moving means for moving an ultrasonic probe 22 described later in the circumferential direction of the pipe 3. The circumferential movement device has the following configuration. That is, as shown in FIGS. 1, 2, and 3, the frame constituting the outer shell of the circumferential movement device is provided with a circumferential movement device driving motor 7, and the circumferential movement device driving motor 7 A circumferential movement device driving pinion 8 that meshes with the rack 13 is fixed to the rotation output shaft, and the circumferential movement device driving pinion 8 is rotatably driven by the circumferential movement device driving motor 7.

  Ball plungers 11, 12 are installed on the frame of the circumferential movement device so as to sandwich the track 1, and the rotatable ball portions of the ball plungers 11, 12 are in contact with the groove 10 of the track 1 and do not fall out of the groove 10. Has been. The circumferential movement device drive motor 7 has a circumferential movement device position detection encoder 9 that measures the amount of rotation of the motor. The circumferential movement position of the circumferential movement device 6 and an ultrasonic probe 22 to be described later is determined. It is equipped as a position measurement means to measure.

  In such a circumferential movement device 6, when the circumferential movement device driving pinion 8 is rotationally driven by the circumferential movement device driving motor 7, the circumferential movement device driving pinion is engaged with the rack 13. 1, the outer periphery of the pipe 3 can be moved concentrically with the pipe 3 and the track 1. Since the movement position seen from the position where the movement started is determined, the motor rotation amount of the circumferential direction movement device driving motor 7 is measured by the circumferential direction movement device position detection encoder 9 and the position information is obtained as a result of the measurement. Output as an output signal.

  The circumferential direction moving device 6 is equipped with moving means for moving the ultrasonic probe 22 in the axial direction of the pipe 3. The moving means in the axial direction is configured as follows in this embodiment. That is, as shown in FIGS. 1 and 3, one end of two shafts 14 that are parallel to the axis of the pipe 3 and parallel to each other are installed on the frame of the circumferential movement device 6. The other end portions of 14 are connected and fixed to each other to maintain a parallel interval.

  A measuring instrument moving unit 19 is slidably assembled to each shaft 14 so as to slide in the length direction of the shaft 14, that is, in the axial direction of the pipe 3 (pipe length direction). As described above, the measuring instrument moving unit 19 itself is a frame that slides along the shaft 14. A ball screw 15 parallel to each shaft 14 is screwed to the measuring device moving portion 19, and the measuring device moving portion 19 can be screwed along the shaft 14 by the rotation of the ball screw 15. As shown in FIGS. 1 and 3, the rotation output shaft of a ball screw driving motor 16 is connected to the ball screw 15 through gears 17 and 18, and the ball screw 15 is rotated by the ball screw driving motor 16. It can be driven.

  The ball screw driving motor 16 is installed on the frame of the circumferential movement device 6. In the ball screw driving motor 16, a measuring instrument moving part position detecting encoder 24 for measuring the amount of motor rotation is moved in the three-axis direction of the pipe (longitudinal direction of the pipe) of the ultrasonic probe 22 described later. It is equipped as a position measurement means to measure.

  In such an axial movement means, the ball screw 15 is rotationally driven by the ball screw driving motor 16, and the measuring instrument moving unit 19 moves in the axial direction of the pipe 3 (the length direction of the pipe) according to the direction of the rotation. ) And the moving position of the ultrasonic probe 22 in the three-axis direction of the pipe can be changed. Since the moving position changes according to the motor rotation amount of the ball screw driving motor 16, the motor rotation amount of the ball screw driving motor 16 is measured by the measuring device moving unit position detecting encoder 24, and the measurement result is obtained. It is output as a signal representing position information viewed from the starting position.

  The ultrasonic probe 22 and the displacement meter 23 share a common instrument movement so that the moving means in the axial direction can simultaneously move the ultrasonic probe 22 and the displacement meter 23 in the same direction. It is attached to the part 19. The displacement meter 23 employed as a displacement measuring means for measuring the change in shape of the outer surface of the pipe 3 as a displacement may be either a non-contact type laser displacement meter or a contact type potentiometer.

  A probe mounting portion 20 is attached to the measuring instrument moving portion 19 via a guide structure so as to freely move in the radial direction of the pipe 3. The probe mounting portion 20 is biased with a force that is constantly pushed toward the outer surface of the pipe 3 by a spring 21 provided between the probe mounting portion 20 and the measuring instrument moving portion 19. An ultrasonic probe 22 is detachably attached to a portion of the probe mounting portion 20 near the pipe 3. In such a configuration, the spring 21 allows the ultrasonic probe 22 to move in the radial direction of the pipe 3 following the change in the shape of the outer surface of the pipe 3. Acts as a spring suspension.

  A displacement meter 23 whose posture is adjusted so that the displacement measurement position is on the outer surface of the pipe 3 is attached to the measuring instrument moving unit 19. In this embodiment, as shown in FIG. 1, since a contact-type displacement meter is adopted, the measurement end portion of the displacement meter 23 is in contact with the outer surface of the pipe 3, and the end portion is the outer surface of the pipe 3. The pipe 3 is displaced in the radial direction in accordance with the change in the shape, and an output corresponding to the displacement is output as a signal representing the measurement result.

FIG. 4 shows a block diagram of the system of the pipe inspection apparatus of the present invention. The system of this inspection apparatus uses an ultrasonic probe to detect the cross-sectional shape of the pipe at the position coordinates of the pipe 3 obtained based on the output signals from the encoder 9 for detecting the position of the circumferential movement device and the encoder 24 for detecting the position of the measuring instrument moving unit. In order to input the calculation part 54, the recording part 53, the display part 51 for displaying the inspection result, the inspection range, etc. for calculating and recording the pipe wall thickness measurement result by the child 22 and the pipe surface displacement by the displacement gauge 23 The input unit 52 is provided. Further, the system of this inspection apparatus includes a pulser receiver, a counter board, an A / D board, and the like that cause the ultrasonic probe 22 to start ultrasonic waves and receive ultrasonic waves. The calculation unit 54 is a computer and controls the circumferential direction moving device driving motor 7 and the ball screw driving motor 16. Output signals of the circumferential direction moving device position detecting encoder 9 and the measuring instrument moving unit position detecting encoder 24 are input to the calculating unit 54 via the counter board. The output signal of the displacement meter 23 is also input to the calculation unit 54 via the A / D board. Received information obtained by transmitting and receiving ultrasonic waves from the ultrasonic probe to the pipe is input to the calculation unit 54 via a pulser receiver or an A / D board.

  In response to such various signal inputs, the calculation unit 54 executes the following processing. The execution contents of this pipe inspection device are as follows, including the pipe inspection method in which the ultrasonic flaw detection test is performed after the pipe cross-section shape calculation and recording, and the ultrasonic flaw detection test results are displayed on the calculated pipe cross-section shape. Explain.

  FIG. 5 shows a flow chart for creating and recording a pipe cross-sectional shape. First, the ultrasonic probe 22 is replaced with a vertical ultrasonic probe in which the ultrasonic wave transmission / reception direction is determined in the radial direction of the pipe. Next, the pipe inspection range of the circumferential inspection range X1 ≦ X ≦ X2 and the circumferential inspection range Y1 ≦ Y ≦ Y2, and the current circumferential position X and axial position Y are input from the input unit 52 to the calculation unit 54. (Step S101). Then, when the measuring instrument moving unit 19 is moved at the current circumferential position X within the circumferential inspection range X1 ≦ X ≦ X2, the pipe axis direction position Y accompanying the movement is used for detecting the measuring instrument moving unit position. Reading is performed based on the output signal of the encoder (step S102).

  And every time of the movement, the reading of the outer surface displacement of the pipe 3 based on the output signal from the displacement meter 23, and the ultrasonic wave is incident in the thickness direction (pipe radial direction) of the pipe 3 from the vertical ultrasonic probe, The sound velocity of the ultrasonic wave in the material of the pipe 3 is reflected at the bottom of the pipe (the inner peripheral surface of the pipe 3), is received by the ultrasonic probe again, and travels back and forth from the incidence of the ultrasonic wave. The displacement in the pipe thickness direction and the thickness of the pipe 3 are read from the beam path calculated as a half of the round-trip propagation path multiplied by (Step S103), and Steps S101 to S103 are repeated until Y = Y2 (Step S103). (Y1 ≦ Y ≦ Y2 in S104), and when Y = Y2 (Y = Y2 in Step S104), from the displacement position of the outer surface of the pipe 3 at each axial position at the circumferential position X, the pipe radial direction With the thickness of pipe 3 Obtaining a pipe cross-sectional shape defined between the inner peripheral surface of the tube 3 (see FIG. 8). The result is stored in the recording unit 53 (step S105).

Subsequently, the current circumferential position X is determined (step S106). When the circumferential position X is within X1 ≦ X ≦ X2 (within X1 ≦ X ≦ X2 in step S106), the circumferential movement device is driven. The circumferential movement device 6 is moved in the circumferential direction by a predetermined ΔX to the motor 7 (Step S107), and Steps S102 to S105 are repeated. If X = X2 (X = X2 in step S106), the process proceeds to the ultrasonic flaw detection test (step S108).

  After the process in step S108 is completed, the process in the calculation unit 54 is temporarily stopped. Before moving to the ultrasonic flaw detection test, the ultrasonic probe 22 is changed from the vertical ultrasonic probe to the oblique ultrasonic probe for flaw detection to the probe mounting portion 20. The oblique angle ultrasonic probe is a probe having a structure for transmitting and receiving ultrasonic waves obliquely in the thickness of the pipe 3, and has high detection sensitivity for opening defects such as cracks extending in the radial direction of the pipe. There is a characteristic. Although a defect can be detected with a vertical ultrasonic probe, it is preferable to replace the ultrasonic probe 22 in accordance with the property of the defect to be detected as described above in the ultrasonic flaw detection test.

  As described above, when performing the ultrasonic inspection of the pipe, the ultrasonic probe 22 shown in FIG. 1 is changed from the vertical ultrasonic probe for pipe thickness measurement to the oblique ultrasonic inspection for pipe inspection. In place of the toucher, the calculation unit 54 is operated thereafter, and an ultrasonic flaw detection test is performed. FIG. 6 shows a flowchart of the ultrasonic flaw detection test. First, as the flaw detection range from the input unit 52 to the calculation unit 54, the circumferential position X and the circumferential inspection range X1 ≦ X ≦ X2, the axial direction Y and the axial inspection range Y1 ≦ Y ≦ Y2, and the ultrasonic probe. The ultrasonic refraction angle α transmitted and received from the pipe 22 to the pipe 3 is input (step S201). The inspection range here may be any range as long as it is within the inspection range designated in step S101 in FIG.

  Subsequently, the pipe cross-sectional shape at the current circumferential position X within the circumferential inspection range X1 ≦ X ≦ X2 created in the flow of FIG. 5 is called from the recording unit and displayed on the display unit (step S202). Then, the position of the reflection source from the ultrasonic probe is superimposed on the displayed pipe cross-sectional shape (step S203). A method for displaying the reflection source will be described later.

Subsequently, steps S202 to S203 are repeated until Y = Y2 (Y1 ≦ Y ≦ Y2 in step S204). If Y = Y2 (Y = Y2 in step S204), the result is recorded in the recording unit 53. (Step S205). Subsequently, the current circumferential position X is determined (step S206). If the circumferential position X is within X1 ≦ X ≦ X2 (within X1 ≦ X ≦ X2 in step S206), the circumferential movement device is driven. The motor 7 is moved in the circumferential direction by ΔX (step S207), and the steps from step S202 to step S205 are repeated. If X = X2 (X = X2 in step S106), the process ends.

FIG. 7 shows a flow chart of display of the reflection source position received by the ultrasonic probe after reflection of the ultrasonic wave from a defect in the thickness of the pipe 3. First, the current axial position Y is read (step S301). Subsequently, the reflection source position R is calculated from the axial position Y, the refraction angle α, and the beam path length W by Y _R = Y + WSINα, Z _R = WCOSα (step S302). Then, the reflection source position [R (Y _R , Z _R )] is displayed on the display unit 51 so as to overlap with the previously measured cross-sectional shape of the pipe. (Step S303). FIG. 10 is an example of the display of the ultrasonic reflection source on the pipe cross-sectional shape obtained by the flow of FIGS. 5, 6, and 7. The X mark represents the reflection source, and the diagonal line represents the ultrasonic propagation path. To express. The inspector determines from the display image on the display unit as shown in FIG. 10 whether the reflection source is based on the shape of the back surface (inner peripheral surface of the pipe 3) or a suspicious reflection source that seems to be a defect.

  The beam path length W is calculated by multiplying the ultrasonic velocity in the pipe material by the time it takes for the incident ultrasonic wave to be reflected by a reflection source such as a scratch and return to the ultrasonic probe. It is calculated as half of the round-trip propagation path from the incident to reception.

  FIG. 11 shows a second embodiment of the present invention. As in the first embodiment, a measuring instrument moving section 19 that is movably mounted in the length direction of the shaft is attached to each shaft 14. . A probe mounting portion 20 is attached to the measuring instrument moving portion 19 so as to be movable in the radial direction of the pipe 3 through a guide structure. The probe mounting portion 20 is given a force that is always pushed out toward the pipe 3 by a spring 21 mounted between the probe mounting portion 20 and the measuring instrument moving portion 19.

Between the probe mounting part 20 and the measuring instrument moving part 19, an encoder 55 for measuring a displacement based on the radial movement of the pipe 3 of the probe mounting part 20 is provided. The encoder 55 is employed as a displacement meter that measures the displacement of the probe mounting portion 20 in the radial direction of the pipe 3 with respect to the measuring instrument moving portion 19. Since the displacement is linearly displaced in the radial direction of the pipe 3, a linear encoder can be employed as an example of a displacement meter.

  Other technical matters such as the configuration are the same as those of the first embodiment. According to the second embodiment, ultrasonic waves that slide on the outer surface of the pipe 3 in the pipe axial direction as the measuring instrument moving unit 19 moves in the pipe axial direction (pipe length direction). The probe 22 reciprocates in the radial direction of the pipe 3 in response to a change in the shape of the outer surface of the pipe 3, such as unevenness. Therefore, the probe attachment portion 20 to which the ultrasonic probe 22 is attached also reciprocates in the radial direction of the pipe 3. When the probe mounting portion 20 is also reciprocated in the radial direction of the pipe 3 in this manner, the encoder 55 is attached to the probe as the ultrasonic probe 22 moves along the outer surface shape of the pipe 3. The amount of reciprocal displacement of the pipe 20 in the radial direction of the pipe 20 is measured as the amplitude of the pipe 3 in the radial direction. That is, the encoder 55 functions as a displacement meter that measures the displacement of the outer surface shape of the pipe 3.

  With such a configuration of the second embodiment, the movable portion in contact with the pipe 3 of the displacement meter 23 in the first embodiment can also be used as the probe mounting portion 20 and the configuration is simple. With this configuration, the encoder 55 can be used to cope with a large change in the outer surface shape of the pipe. The pipe inspection method using the pipe inspection apparatus in this embodiment is the same as that in the first embodiment.

  FIG. 12 shows a third embodiment of the present invention, and an inclinometer 56 for measuring the inclination of the shaft 14 is installed at the tip of each shaft 14 in the first embodiment. Other configurations are the same as those of the first embodiment.

As shown in FIG. 13, when the circumferential movement device 6 is in the state (1), the shaft 14 is maintained in the horizontal direction (parallel to the axial direction of the pipe 3), and from the Y ₁ position to the Y ₂ position in the pipe axial direction. The ultrasonic probe 22 and the displacement meter 23 move. In this case, the relationship between the measurement result of the outer surface displacement of the pipe 3 by the displacement meter 23 and the movement position measurement result in the pipe axis direction of the displacement gauge 23 measured by the encoder 24 for detecting the moving position of the measuring instrument is as follows. Is displayed as shown in FIG.

On the other hand, when the circumferential movement device 6 is in the state (2) in FIG. 13, the shaft 14 is affected by the weight of the measuring device moving unit 19, the probe mounting unit 20, the displacement meter 23, the ultrasonic probe 22, and the like. As a result, an inclination occurs with respect to the axis of the pipe 3. In this case, the relationship between the displacement measurement result of the outer surface of the pipe 3 by the displacement meter 23 and the movement position measurement result in the pipe axis direction of the displacement gauge 23 measured by the encoder 24 for detecting the moving position of the measuring instrument is as follows. When displayed with reference, as shown in FIG. 16, as the measuring instrument moving unit 19 and the like move from the Y ₁ position to the Y ₂ position, the displacement of the pipe surface increases due to the influence of the inclination of the shaft 14. Go.

  If the pipe cross-sectional shape is calculated based on the thickness of the pipe 3 from the ultrasonic probe 22 in such a state, it becomes a shape different from the actual one. Therefore, after performing the following correction processing in the calculation unit, the pipe cross-sectional shape is displayed on the display unit.

That is, since the shaft 14 is a rigid rod, when the shaft 14 is moved from the Y ₁ position to the Y ₂ position, the tilt angle θ is constant, and the angle θ is measured by the inclinometer 56, and information on the measurement result is obtained. Is input to the calculation unit and used in the correction process described later.

  Here, an increase δ of the pipe surface displacement due to the inclination at an arbitrary position Y in the pipe axial direction is given by δ = Ytanθ. In the correction process, before correction, the pipe surface displacement when tilted by subtracting δ from the data of the measurement result of the pipe outer surface displacement shown in FIG. 15 is Y when the shaft 14 is Y as shown in FIG. FIG. 14 can display the relationship between the displacement of the outer surface of the pipe and the Y value on the display unit with the corrected data so as to match the graph base axis. Other operations are the same as those of the first embodiment.

  As described above, according to the pipe inspection apparatus according to each embodiment of the present invention, pipe surface shape measurement and pipe wall thickness (also referred to as plate thickness) measurement from the pipe surface shape can be performed simultaneously, and promptly. In addition, data necessary for calculating the pipe cross-sectional shape can be acquired, and the pipe cross-section can be determined quickly.

  Therefore, the ultrasonic flaw detection test result can be quickly reflected in the pipe cross-sectional shape and displayed, and the inspection work of the inspector can be supported accurately and quickly. Thus, according to each embodiment, it is possible to improve the accuracy of calculating the pipe cross-sectional shape and speed up the determination of the presence or absence of defects.

  The present invention may be used in a pipe inspection apparatus that measures the shape of a cross section of a pipe.

It is explanatory drawing of the piping test | inspection apparatus by 1st Example of this invention, (a) A figure is the whole figure by the partial cross section display of the state with which it attached to piping, (b) A figure is the principal part expansion of (a) figure It is sectional drawing. It is a front view by the partial cross section display of the piping inspection apparatus by 1st Example of this invention. 1 is a top plan view of a pipe inspection device according to a first embodiment of the present invention. It is a block diagram of the system of the piping inspection apparatus by the 1st example of the present invention. It is a flowchart figure which shows the data collection process required for calculation of the cross-sectional shape of piping by the piping inspection apparatus by 1st Example of this invention. It is a flowchart figure of the ultrasonic flaw test by 1st Example of this invention. It is a flowchart figure of the reflection source position display of the ultrasonic flaw detection test by 1st Example of this invention. It is an illustration figure of the pipe section shape displayed in the 1st example of the present invention. It is a figure showing the relationship between the pipe cross-sectional shape displayed in the 1st Example of this invention, a beam path length, a beam refraction angle, and a reflection source position. It is the example of a display which displayed the reflection source position of the ultrasonic flaw detection result on the piping cross-sectional shape displayed in the 1st Example of this invention. It is a fragmentary figure of the state with which the piping of the piping inspection apparatus by the 2nd Example of this invention was mounted | worn. It is a part of the state with which the piping of the piping inspection apparatus by 3rd Example of this invention was mounted | worn. It is the front view (a) in the piping test | inspection apparatus by 3rd Example of this invention, the state figure (b) of a shaft in a horizontal state, and the state figure (c) in the state where the shaft inclined. It is a graph showing the relationship between a pipe axial direction position in case the shaft in the piping test | inspection apparatus by the 3rd Example of this invention is horizontal, and piping outer surface displacement. It is a graph showing the relationship between a pipe axial direction position and piping outer surface displacement when the shaft in the piping test | inspection apparatus by the 3rd Example of this invention inclines.

Explanation of symbols

DESCRIPTION OF SYMBOLS 1 ... Track | orbit, 2 ... Welded part, 3 ... Piping, 4 ... Screw hole, 5 ... Screw, 6 ... Circumferential movement apparatus, 7 ... Circumferential movement apparatus drive motor, 8 ... Circumferential movement apparatus drive pinion, 9 ... Circumferential movement device position detection encoder, 10... Groove, 11, 12... Ball plunger, 13. Rack, 14. Shaft, 15.
DESCRIPTION OF SYMBOLS 19 ... Measuring device moving part, 20 ... Probe attachment part, 21 ... Spring, 22 ... Ultrasonic probe, 23 ... Displacement meter, 24 ... Measuring device moving part Position detection encoder, 51 ... Display part, 52 ... Input unit, 53 ... recording unit, 54 ... calculation unit, 55 ... encoder, 56 ... inclinometer.

Claims (9)

Moving means for moving the ultrasonic probe in the circumferential direction and the axial direction of the pipe;
A suspension equipped in the moving means to vary the position of the ultrasonic probe along the shape of the outer surface of the pipe;
Position measuring means equipped in the moving means so as to measure the moving position of the ultrasonic probe;
Displacement measuring means equipped with the moving means so as to be interlocked with the movement of the ultrasonic probe, and measuring a change in shape of the outer surface of the pipe as a displacement;
Piping inspection device having   The means for creating and displaying the cross-sectional shape of the pipe according to claim 1, based on the thickness of the pipe measured using the ultrasonic probe and the displacement measured using the displacement measuring means. Piping inspection device having   The pipe inspection apparatus according to claim 1 or 2, wherein the displacement measuring means includes means for measuring a change in the position of the ultrasonic probe.   4. The moving means according to claim 1, wherein the moving means includes a shaft that is long in the axial direction of the pipe as a guide for moving the ultrasonic probe, and measures the inclination of the shaft on the shaft. A pipe inspection device with an inclinometer. An annular track mounted around the outside of the pipe,
A circumferentially moving device that moves along the trajectory;
A shaft that is mounted on the circumferential movement device and is long in the axial direction of the pipe;
A measuring instrument moving part movably mounted on the shaft so as to be guided by the shaft;
A ball screw mounted on the circumferential movement device and screw-feeding the measuring instrument moving unit;
A probe mounting portion equipped to displace the measuring device moving portion following the change in the shape of the outer surface of the pipe; and
An ultrasonic probe equipped in the probe mounting portion;
A spring provided between the probe mounting part and the measuring instrument moving part so as to press the ultrasonic probe against the pipe side;
A pipe inspection apparatus provided with a displacement meter that is provided in the measuring instrument moving unit and measures a change in the shape of the outer surface of the pipe as a displacement.   The means for creating and displaying the cross-sectional shape of the pipe according to claim 5 based on the thickness of the pipe measured using the ultrasonic probe and the displacement measured using the displacement meter; Piping inspection device having   7. The piping according to claim 6, wherein the ultrasonic probe has a vertical ultrasonic probe for wall thickness measurement and an ultrasonic probe for flaw detection, which can be freely attached to the probe mounting portion. Inspection device.   8. The pipe inspection apparatus according to claim 7, further comprising means for displaying a reflection source position based on a flaw detection test result of the pipe using the ultrasonic probe for flaw detection in a cross-sectional shape of the pipe. Measuring the displacement of the outer surface of the pipe;
Measuring the wall thickness of the pipe;
Calculating a cross-sectional shape of the pipe from the measured displacement and the measured thickness;
Performing an ultrasonic inspection test of the pipe;
Displaying the ultrasonic flaw detection test results on the calculated pipe cross-sectional shape;
A pipe inspection method.

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