JP2013217770A - Ultrasonic test device, ultrasonic sensor support device and ultrasonic test method - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide an ultrasonic test device, an ultrasonic sensor support device and an ultrasonic test method capable of executing an ultrasonic test regardless of a structure of a welding area.SOLUTION: An ultrasonic test device comprises: a pair of ultrasonic sensors 11 which transmit and receive ultrasonic beams; and a support device 10. The support device 10 has: an installation mechanism 15 attached to piping 2; a holding mechanism 25 which is connected to the installation mechanism 15 and holds the pair of ultrasonic sensors 11 in a manner that keeps a constant distance between oscillation surfaces 12 of respective ultrasonic sensors 11 and a bottom surface of a furnace 3a; a rotation mechanism 29 which rotates the installation mechanism 15 around the piping 2; and a controller 30 which controls the installation mechanism 15, the holding mechanism 25 as well as the rotation mechanism 29. The controller 30 controls the installation mechanism 15 so that the pair of ultrasonic sensors 11 are positioned at a predetermined distance from the piping 2.

Description

  The present invention relates to an ultrasonic flaw detector, an ultrasonic sensor support device, and an ultrasonic flaw detection method for inspecting a defect in a welded portion of a structure.

  In a structure such as a nuclear reactor, a welded portion is formed at a location where a member such as a pipe is welded. For example, a reactor vessel of a pressurized water reactor (PWR) has a bottom-mounted end plate of BMI (Bottom Mounted Instrumentation) piping attached by welding. A weld is formed at the connection between the pipe and the furnace bottom. As the reactor ages, defects such as cracks may occur in this weld. If a defect is identified, it may require repair by welding.

  Conventionally, visual inspection (Visual Test, VT) or eddy current testing (ECT) is used as an effective inspection method for the repair weld. Since this repair weld is subject to inspection by a welding company, volume inspection using an ultrasonic flaw test (Ultrasonic Testing, UT) or a radiographic test (Radiographic Testing, RT) is required. In repair welds, inspection by RT is impossible, so inspection by UT is performed.

  For example, Patent Documents 1 and 2 disclose techniques related to ultrasonic flaw detection using an ultrasonic probe in a welded portion between a bottom of a reactor pressure vessel and a structure.

JP 2002-328193 A Japanese Patent Laid-Open No. 57-125846

  In the above-described welded portion of the reactor vessel end plate and pipe and the welded portion of the pipe of the main pipe and the branch pipe, not only a relationship orthogonal to each other but also a welded portion having an acute angle formed between each other occurs. obtain. If such a welded portion is to be inspected by UT, there is a possibility that a range in which flaw detection is difficult occurs due to a structural approach limit.

  The techniques of Patent Documents 1 and 2 above are techniques related to the ultrasonic flaw detection technique that can be applied to the welded portion between the end plate of the reactor vessel and the piping, but the structural approach limit has not been considered. Moreover, the technique of patent document 2 is a technique which injects an ultrasonic wave from the piping side. For this reason, a defect on the end plate side cannot be detected, and it cannot be applied to ultrasonic flaw detection in which the welded portion is in the flaw detection range.

  The present invention has been made in view of such circumstances, and provides an ultrasonic flaw detector, an ultrasonic sensor support device, and an ultrasonic flaw detection method capable of performing ultrasonic flaw detection regardless of the structure of the welded portion. The purpose is to do.

  In order to solve the above-described problem, an ultrasonic inspection device according to the present invention uses a welded portion in which a second structure is welded at a predetermined angle with respect to a first structure as an inspection target. In an ultrasonic flaw detection apparatus that performs ultrasonic flaw detection, a set of ultrasonic sensors that transmit and receive an ultrasonic beam, an installation mechanism that is attached to the second structure, and each ultrasonic wave that is connected to the installation mechanism A holding mechanism for holding the set of ultrasonic sensors while keeping a distance between the oscillation surface of the sensor and the surface of the first structure constant, and the installation mechanism rotating around the second structure A rotation mechanism, and a support device having a controller that controls the installation mechanism, the holding mechanism, and the rotation mechanism, and the controller is configured such that the set of ultrasonic sensors is a fixed distance from the second structure. To be located in front And controlling the installation mechanism.

  In addition, the ultrasonic sensor support device according to the present invention performs an ultrasonic flaw detection inspection on a welded portion in which a second structure is welded at a predetermined angle with respect to the first structure. In a support device for supporting a set of ultrasonic sensors used for transmitting and receiving ultrasonic beams, an installation mechanism connected to the second structure, and an oscillation of each ultrasonic sensor connected to the installation mechanism A holding mechanism that holds the set of ultrasonic sensors while maintaining a constant distance between the surface and the surface of the first structure, and a rotation mechanism that rotates the installation mechanism around the second structure. And a support device having a controller that controls the installation mechanism, the holding mechanism, and the rotation mechanism, the controller such that the set of ultrasonic sensors is located at a certain distance from the second structure. In the installation mechanism And controlling.

  Further, the ultrasonic flaw detection method according to the present invention is an ultrasonic flaw detection method for inspecting a welded portion in which a second structure is welded at a predetermined angle with respect to a first structure. A set of ultrasonic sensors for transmitting and receiving a sound beam; an installation mechanism connected to the second structure; an oscillation surface of each of the ultrasonic sensors connected to the installation mechanism; and the first structure Preparing a holding mechanism for holding the set of ultrasonic sensors while maintaining a constant distance from the surface, and a rotating mechanism for rotating the installation mechanism around the second structure; Controlling the installation mechanism so that the ultrasonic sensor is positioned at a certain distance from the second structure, and transmitting and receiving the ultrasonic beam with the ultrasonic sensor while rotating the rotating mechanism; Transmission and reception of the ultrasonic beam Obtaining a surface shape of the inspection object from the received waveform data obtained by the step, calculating a delay time of ultrasonic beam transmission necessary for flaw detection of the inspection object based on the surface shape of the inspection object, A flaw detection step of performing a flaw detection inspection of the inspection object based on the delay time.

  In the ultrasonic flaw detector, the ultrasonic sensor support device, and the ultrasonic flaw detection method according to the present invention, ultrasonic flaw detection can be performed regardless of the structure of the welded portion.

The block diagram which shows one Embodiment of the ultrasonic flaw detector in this embodiment, and an ultrasonic sensor support apparatus. (A)-(C) are the enlarged views of a holding mechanism. (A) is explanatory drawing which shows the mode of the flaw detection process in the welding part of a furnace bottom part and piping, (B) is a top view of FIG. 3 (A) which shows a flaw detection difficult part. The flowchart explaining the ultrasonic flaw detection process implemented by the ultrasonic flaw detector in this embodiment. (A) And (B) is explanatory drawing of the ultrasonic flaw detector which makes the inspection object the location where piping was welded non-orthogonally with respect to the furnace bottom part. It is explanatory drawing which shows a mode that an ultrasonic wave is transmitted / received to test object, (A) is a top view, (B) is a front view, (C) is a side view.

  An embodiment of an ultrasonic inspection device, an ultrasonic sensor support device, and an ultrasonic inspection method according to the present invention will be described with reference to the accompanying drawings. In the present embodiment, an ultrasonic flaw detector, an ultrasonic sensor support device, and an ultrasonic flaw detection method are applied to a bottom end plate (first structure) of a reactor vessel of a PWR and a predetermined end to the end plate. An ultrasonic flaw inspection will be described as an example in which a welded portion with a BMI pipe (second structure) welded at an angle is an inspection target. The ultrasonic flaw detection apparatus, the ultrasonic sensor support apparatus, and the ultrasonic flaw detection method according to the present invention inspect a welded part between other structures such as a welded part between pipes such as a mother pipe and a branch pipe. It can be.

  FIG. 1 is a configuration diagram illustrating an embodiment of an ultrasonic flaw detector 1 and an ultrasonic sensor support device 10 according to the present embodiment.

  The ultrasonic flaw detector 1 has an ultrasonic sensor 11 and an ultrasonic sensor support device 10.

  The ultrasonic sensor 11 has a piezoelectric element and is a sensor for transmitting and receiving an ultrasonic beam. The ultrasonic sensor 11 is a multi-channel phased array probe. One ultrasonic sensor 11 functions as an ultrasonic sensor 11a for transmission, and the other functions as an ultrasonic sensor 11b for reception.

  The ultrasonic sensor support device (support device) 10 includes an installation mechanism 15, a holding mechanism 25, a rotation mechanism 29, and a controller 30.

  The installation mechanism 15 is installed on the inspection target by being connected to the pipe 2. The holding mechanism 25 is connected to the installation mechanism 15 and holds the ultrasonic sensor 11 on the furnace bottom surface 3a while keeping the distance between the oscillation surface 12 of each ultrasonic sensor 11 and the furnace bottom surface 3a constant. The rotation mechanism 29 rotates the installation mechanism 15 around the pipe 2. The controller 30 controls the installation mechanism 15, the holding mechanism 25, and the rotation mechanism 29.

  The installation mechanism 15 includes a clamp member 16, an arm member 17, and a sensor support member 18.

  The clamp member 16 is clamped at a fixable location such as the tip of the BMI pipe (pipe) 2 to fix the installation mechanism 15 to the pipe 2. The arm member 17 is a member that is connected to the clamp member 16 and has a length direction in a direction substantially orthogonal to the pipe 2. The arm member 17 is, for example, a hydraulic cylinder, and moves in the length direction (left-right direction) of the arm member 17 relative to the clamp member 16. The arm member 17 moves according to the control of the controller 30.

  The sensor support member 18 is a member connected to the arm member 17 and having a length direction in a direction substantially orthogonal to the arm member 17. The sensor support member 18 moves relative to the arm member 17 in the length direction of the sensor support member 18 (the vertical direction in the drawing). The sensor support member 18 is attached to the bottom surface 3a side of the reactor bottom (reactor bottom) 3 of the reactor vessel in the length direction of the sensor support 18 below the connecting portion 18a with the arm member 17. It has a spring 19 (elastic body) that always brings the roller 20 (described later) into contact with the furnace bottom surface 3a. Such a sensor support member 18 moves up and down relatively with respect to the arm member 17 in accordance with the inclination of the furnace bottom surface 3a.

  The holding mechanism 25 includes a holding housing 26 and an angle adjustment actuator 27. Here, FIGS. 2A to 2C are enlarged views of the holding mechanism 25.

  The holding housing 26 is connected to the lower end portion 18 b (one end on the furnace bottom surface 3 a side) of the sensor support member 18 of the installation mechanism 15 and accommodates the ultrasonic sensor 11. The holding housing 26 may be a case shape or a frame shape. The holding housing 26 includes a roller 20 (moving member) that contacts the furnace bottom surface 3a. As shown in FIG. 1, the roller 20 is so superposed that the furnace bottom surface 3 a and each oscillation surface 12 are parallel to each other while keeping the distance between the oscillation surface 12 of the ultrasonic sensor 11 and the furnace bottom surface 3 a constant. The sonic sensor 11 is moved. The angle adjustment actuator 27 adjusts the angle of the oscillation surface 12 of the ultrasonic sensor 11. Specifically, as shown in FIGS. 2B and 2C, the angle adjustment actuator 27 is arranged around an axis orthogonal to the direction of the ultrasonic beam oscillated from the ultrasonic sensor 11 (arm member 17 and sensor support). The ultrasonic sensor 11 is rotated around an axis orthogonal to the member 18 (around the back axis from the front of the figure). 2B and 2C, the rotation direction of the angle adjustment actuator 27 is indicated by an arrow A.

  The rotation mechanism 29 rotates the arm member 17 360 degrees around the pipe 2 (around the axis of the pipe 2) with the length direction of the pipe 2 as an axis. The rotation mechanism 29 rotates the holding mechanism 25 and the ultrasonic sensor 11 as the arm member 17 rotates.

  The controller 30 includes a mechanism control unit 31, a sensor control unit 32, and a calculation unit 33.

  The mechanism control unit 31 controls the installation mechanism 15, the holding mechanism 25, and the rotation mechanism 29. Specifically, the mechanism control unit 31 controls the movement amount of the arm member 17, the rotation direction and the rotation amount of the angle adjustment actuator 27 and the rotation mechanism 29, and the like. Further, the mechanism control unit 31 detects the relative movement amount of the sensor support member 18 with respect to the arm member 17 in order to obtain the movement amount of the arm member 17. The amount of movement of the sensor support member 18 changes as the biasing force of the spring 19 acts as the furnace bottom surface 3a is inclined. The mechanism control unit 31 obtains the movement amount of the arm member 17 based on the movement amount of the sensor support member 18 so that the two ultrasonic sensors 11 are always located at a certain distance from the pipe 2. The movement amount of the arm member 17 can be determined from the movement amount of the sensor support member 18 and the positional relationship of the ultrasonic sensor 11.

  The sensor control unit 32 controls input / output signals (I / O signals) of the piezoelectric elements of the ultrasonic sensor 11. Specifically, the sensor control unit 32 includes pulsar receivers for all channels (ch) of the two ultrasonic sensors 11. For example, the sensor control unit 32 can control to receive the ultrasonic beams reflected by all the channels of the two ultrasonic sensors 11 while emitting the ultrasonic beams one channel at a time. The received ultrasonic beam waveform is stored in the calculation unit 33 as received waveform data.

  The calculation unit 33 performs calculations necessary for the ultrasonic flaw detector 1 to inspect the welded portion between the furnace bottom 3 and the pipe 2. The computing unit 33 obtains a two-dimensional or three-dimensional surface shape to be inspected based on the received waveform data. Moreover, the calculating part 33 calculates the delay time of ultrasonic beam transmission required for flaw detection of a test object based on the surface shape of a test object.

Next, operations of the ultrasonic flaw detector 1 and the support device 10 for the ultrasonic sensor 11 in the present embodiment will be described.
First, conventional problems will be described.

  FIG. 3A is an explanatory view showing a state of flaw detection processing in a welded portion between the furnace bottom portion 3 and the pipe 2, and FIG. 3B is a plan view of FIG.

  As shown in FIG. 3 (A), in the welded portion between the furnace bottom portion 3 and the pipe 2, there can be a portion where the angle formed between each other is an acute angle. If an ultrasonic flaw detection inspection is to be performed in such a weld, a range in which flaw detection is difficult occurs due to the structural approach limit of the ultrasonic sensor 11. For example, there is a possibility that the beam 5 cannot be incident on a place where the inspection is originally desired. Therefore, as shown in FIG. 3B, a certain range around the pipe 2, in particular, a range where the angle formed by the furnace bottom 3 and the pipe 2 becomes an acute angle becomes the flaw detection difficult part 4.

  On the other hand, the ultrasonic flaw detector 1 according to the present embodiment can suitably perform a flaw detection inspection even when the flaw detection difficult part 4 is used by using the support device 10. Hereinafter, the operation of the ultrasonic flaw detector 1 and the support device 10 will be specifically described with reference to flowcharts.

  FIG. 4 is a flowchart for explaining ultrasonic flaw detection processing performed by the ultrasonic flaw detection apparatus 1 in the present embodiment.

  5 (A) and 5 (B) are explanatory views of the ultrasonic flaw detector 1 for inspecting a place where the pipe 2 is welded non-orthogonally to the furnace bottom 3.

  In step S1, the support device 10 including the ultrasonic sensor 11 is installed on the inspection target. Specifically, the clamp member 16 of the installation mechanism 15 is attached to the pipe 2. At this time, the clamp member 16 is adjusted and installed so that the roller 20 is in contact with the furnace bottom surface 3a and the distance between the oscillation surface 12 of the ultrasonic sensor 11 and the furnace bottom surface 3a is constant. The roller 20 can move the moving ultrasonic sensor by rolling on the furnace bottom surface 3a. The holding mechanism 25 is biased by the spring 19 of the sensor support member 18 and pressed against the furnace bottom surface 3a. Thereby, the height of the ultrasonic sensor 11 is set so that the distance between the roller 20 and the oscillation surface 12 of the ultrasonic sensor 11 is always constant.

  As shown in FIGS. 5A and 5B, the sensor support member 18 moves in the vertical direction with respect to the arm member 17 according to the degree of inclination of the furnace bottom portion 3. The mechanism control unit 31 of the controller 30 detects the amount of movement of the sensor support member 18 so that the center of the ultrasonic sensors 11a and 11b is always the pipe 2 (pipe welded part, target flaw detection site). Control the amount of movement.

  In step S2, the ultrasonic flaw detector 1 transmits and receives ultrasonic waves in order to measure the surface shape of the inspection target. Specifically, the sensor control unit 32 of the controller 30 controls to transmit an ultrasonic beam from the ultrasonic sensor 11 (transmission ultrasonic sensor 11a). The sensor control unit 32 also controls the ultrasonic sensor 11 (receiving ultrasonic sensor 11b) to receive an ultrasonic beam reflected from the furnace bottom surface 3a and the welded portion.

  For example, the sensor control unit 32 receives the ultrasonic beams reflected by all the channels of the two ultrasonic sensors 11 while emitting the ultrasonic beam for each channel. At this time, the mechanism control unit 31 controls the rotation mechanism 29 to rotate the ultrasonic sensor 11 once (rotate 360 degrees). As the rotation rotates, the inclination of the furnace bottom surface 3a with which the roller 20 contacts also changes, so the installation mechanism 15 adjusts the position of the ultrasonic sensor 11 with the inclination. The sensor control unit 32 performs transmission / reception of ultrasonic waves in all channels while rotating. The obtained ultrasonic beam waveform is a signal that three-dimensionally represents the surface shape of the inspection object. This signal is stored in the calculation unit 33 as received waveform data.

  In step S3, the calculation unit 33 calculates the three-dimensional surface shape of the inspection target (the welded portion of the pipe 2 and the furnace bottom portion surface 3a in the vicinity thereof) by using the aperture synthesis method based on the received waveform data. .

  In step S4, the calculation unit 33 calculates a delay time (ultrasonic beam transmission timing) when transmitting the ultrasonic beam based on the surface shape of the inspection target. The delay time is a value for converging the ultrasonic beam to a desired position in consideration of the surface shape. For example, the welded portion of the pipe 2 in the furnace bottom 3 is likely to have a defect of 5 to 20 mm from the furnace bottom surface 3a, and inspection at this depth is required at the time of ultrasonic flaw detection. For this reason, the calculating part 33 calculates delay time so that an ultrasonic beam may be converged on the position of 5-20 mm (it becomes a focus). Various known techniques can be applied to the delay time calculation method.

  In step S5, the sensor control unit 32 transmits / receives ultrasonic waves for the flaw detection inspection to be inspected. The sensor control unit 32 controls the timing of the ultrasonic beam transmitted from the ultrasonic sensor 11 using the delay time calculated in the delay time calculation step S4.

  At this time, the mechanism control unit 31 can adjust the angle of the oscillation surface 12 of the ultrasonic sensor 11 with the angle adjustment actuator 27. As a result, the angle formed between the furnace bottom portion 3 and the pipe 2 that is difficult to detect flaws is an acute angle, and the ultrasonic flaw detector 1 is inspected (furnace bottom portion 3 and The ultrasonic sensor 11 can be disposed and held at an angle at which an ultrasonic beam having an arbitrary refraction angle can be incident on the boundary portion of the pipe 2.

  Here, FIG. 6 is an explanatory diagram showing a state in which an ultrasonic beam is transmitted / received to / from an inspection target. 6A is a plan view, FIG. 6B is a front view, and FIG. 6C is a side view. The ultrasonic sensor 11a for reception and the ultrasonic sensor 11b for transmission are arranged at an equal distance with the pipe 2 as the center. Moreover, the ultrasonic flaw detector 1 can determine the delay time and the angle of the oscillation surface 12 so that the ultrasonic beam 5 is incident on a desired focal point. For this reason, the ultrasonic beam 5 can be surely incident and a reflected wave can be received even in a portion where the angle formed by the furnace bottom 3 and the pipe 2, which conventionally becomes the flaw detection difficult portion 4, is an acute angle. be able to. Thereby, the ultrasonic flaw detection apparatus 1 can accurately propagate the ultrasonic beam to a desired position even in the flaw detection difficult portion 4.

  The ultrasonic flaw detector 1 according to the present embodiment includes the support device 10 that supports the ultrasonic sensor 11 at an equal distance from the pipe 2 and rotatably around the pipe 2, so that flaw detection is suitably performed without limiting the inspection target. Inspection can be performed.

  Further, since the support device 10 includes the installation mechanism 15, the holding mechanism 25, the rotation mechanism 29, and the controller 30 that controls these, the ultrasonic sensor 11 can be appropriately moved to a position optimal for flaw detection inspection. As a result, the support device 10 can perform flaw detection continuously even for the pipe 2 in which the mounting angle of the pipe 2 with respect to the furnace bottom 3 changes.

  Although several embodiments of the present invention have been described, these embodiments are presented by way of example and are not intended to limit the scope of the invention. These novel embodiments can be implemented in various other forms, and various omissions, replacements, and changes can be made without departing from the scope of the invention. These embodiments and modifications thereof are included in the scope and gist of the invention, and are included in the invention described in the claims and the equivalents thereof.

  For example, the transmission / reception step S5 for the flaw detection inspection may be replaced with a step of performing offline reconstruction using the reception waveform data obtained in the transmission / reception step S2 for surface shape measurement. The calculation unit 33 acquires the flaw detection result of the inspection target by performing signal processing on the received waveform data based on the calculated delay time using the received waveform data acquired for measuring the surface shape. In this case, the ultrasonic flaw detector 1 can evaluate the flaw detection result without changing the flaw detection refraction angle and performing the flaw detection operation each time (reducing the online work).

  In addition, the ultrasonic flaw detector 1 adjusts the angle of the oscillation surface 12 of the ultrasonic sensor 11 with the angle adjusting actuator 27, so that not only the defects inside the furnace bottom 3 (welded part) but also the furnace bottom surface 3 a Open crack defects can also be detected. Specifically, the mechanism control unit 31 adjusts the ultrasonic sensor 11 with the angle adjustment actuator 27 so that the axis of the ultrasonic beam intersects at a depth of 5 to 20 mm in the welded portion where defects are likely to occur. Thereby, the ultrasonic flaw detector 1 can detect efficiently the crack defect opened to the furnace bottom part surface 3a.

  Furthermore, the ultrasonic flaw detector 1 can also perform pulse echo flaw detection with one ultrasonic sensor 11 using the angle adjustment actuator 27. Thereby, the ultrasonic flaw detector 1 can also detect defects that develop in the normal direction (radial direction) with respect to the weld line.

1 Ultrasonic flaw detector 2 BMI piping (piping)
3 Reactor vessel bottom 10 Ultrasonic sensor support device (support device)
11, 11a, 11b Ultrasonic sensor 15 Installation mechanism 16 Clamp member 17 Arm member 18 Sensor support member 19 Elastic body 25 Holding mechanism 26 Holding housing 27 Angle adjustment actuator 29 Rotating mechanism 30 Controller 31 Mechanism control unit 32 Sensor control unit 33 Calculation Part

Claims (11)

In an ultrasonic flaw detection apparatus that performs ultrasonic flaw detection inspection on a welded portion where a second structure is welded at a predetermined angle with respect to the first structure,
A set of ultrasonic sensors for transmitting and receiving ultrasonic waves;
An installation mechanism attached to the second structure, and the set of sets while maintaining a constant distance between an oscillation surface of each of the ultrasonic sensors connected to the installation mechanism and the surface of the first structure. A support device having a holding mechanism for holding an ultrasonic sensor, a rotation mechanism for rotating the installation mechanism around the second structure, and a controller for controlling the installation mechanism, the holding mechanism, and the rotation mechanism; With
The ultrasonic controller according to claim 1, wherein the controller controls the installation mechanism so that the set of ultrasonic sensors is located at a certain distance from the second structure. The installation mechanism is
A clamp member for clamping the second structure;
An arm member connected to the clamp member, having an arm member length direction in a direction substantially perpendicular to the second structure, and moving in the arm member length direction relative to the clamp member When,
A sensor support member connected to the arm member, having a sensor support member length direction in a direction substantially orthogonal to the arm member, and moving in the sensor support member length direction relative to the arm member And comprising
The holding mechanism is
A holding housing that is connected to one end of the sensor support member on the surface side of the first structure and accommodates each of the ultrasonic sensors;
The set of ultrasonic sensors so that the first structure and the oscillation surface are parallel to each other while maintaining a constant distance between the oscillation surface of each of the ultrasonic sensors and the surface of the first structure. A moving member that moves
The ultrasonic flaw detector according to claim 1, comprising:   The ultrasonic flaw detection apparatus according to claim 2, wherein the holding mechanism further includes an angle adjustment mechanism that rotates the ultrasonic sensor around an axis orthogonal to a direction of an ultrasonic beam oscillated from each ultrasonic sensor.   Provided on the surface side of the first structure from the connecting portion of the sensor support member and the arm member in the sensor support member, and urging in the length direction of the sensor support member, The ultrasonic flaw detector according to claim 2, further comprising an elastic body that is brought into contact with the surface of the first structure.   The controller transmits and receives the ultrasonic beam with the ultrasonic sensor while rotating the rotation mechanism, obtains the surface shape of the inspection object from the obtained received waveform data, and based on the surface shape of the inspection object The ultrasonic flaw detection apparatus according to claim 1, further comprising a calculation unit that calculates a delay time of ultrasonic beam transmission necessary for flaw detection of the inspection target. The set of ultrasonic sensors is a multi-channel phased array probe;
The arithmetic unit has pulsar receivers for all channels of the set of ultrasonic sensors and receives ultrasonic beams reflected by all channels of the set of ultrasonic sensors while emitting ultrasonic beams one by one. The ultrasonic flaw detector according to claim 5, wherein reception waveform data for obtaining the surface shape is obtained to obtain the three-dimensional surface shape of the inspection object. The ultrasonic wave according to claim 5 or 6, wherein the calculation unit performs the ultrasonic flaw detection inspection of the inspection target by performing offline reconstruction using the received waveform data obtained for obtaining the surface shape. Flaw detection equipment. A set of transmitting and receiving an ultrasonic beam used for performing an ultrasonic flaw inspection in which a welded portion in which a second structure is welded at a predetermined angle with respect to the first structure is to be inspected. In the ultrasonic sensor support device that supports the ultrasonic sensor,
An installation mechanism coupled to the second structure;
A holding mechanism connected to the installation mechanism and holding the set of ultrasonic sensors while maintaining a constant distance between the oscillation surface of each ultrasonic sensor and the surface of the first structure;
A rotation mechanism that rotates the installation mechanism around the second structure, and a support device that includes a controller that controls the installation mechanism, a holding mechanism, and the rotation mechanism,
The ultrasonic sensor support device, wherein the controller controls the installation mechanism so that the set of ultrasonic sensors is located at a certain distance from the second structure. The installation mechanism is
A clamp member for clamping the second structure;
An arm member connected to the clamp member, having an arm member length direction in a direction substantially perpendicular to the second structure, and moving in the arm member length direction relative to the clamp member When,
A sensor support member connected to the arm member, having a sensor support member length direction in a direction substantially orthogonal to the arm member, and moving in the sensor support member length direction relative to the arm member And comprising
The holding mechanism is
A holding housing that is connected to one end of the sensor support member on the surface side of the first structure and accommodates each of the ultrasonic sensors;
The set of ultrasonic sensors so that the first structure and the oscillation surface are parallel to each other while maintaining a constant distance between the oscillation surface of each of the ultrasonic sensors and the surface of the first structure. A moving member that moves
The ultrasonic sensor support device according to claim 8, comprising: In the ultrasonic flaw detection method for inspecting a welded portion in which the second structure is welded at a predetermined angle with respect to the first structure,
A set of ultrasonic sensors for transmitting and receiving an ultrasonic beam, an installation mechanism connected to the second structure, an oscillation surface of each ultrasonic sensor connected to the installation mechanism, and the first structure Preparing a holding mechanism that holds the set of ultrasonic sensors while maintaining a constant distance from the surface of the surface, and a rotation mechanism that rotates the installation mechanism around the second structure;
Controlling the installation mechanism such that the set of ultrasonic sensors is located at a constant distance from the second structure;
Transmitting and receiving the ultrasonic beam with the ultrasonic sensor while rotating the rotating mechanism;
Obtaining a surface shape of the inspection object from received waveform data obtained by transmitting and receiving the ultrasonic beam;
Calculating a delay time of ultrasonic beam transmission necessary for flaw detection of the inspection object based on the surface shape of the inspection object;
An ultrasonic flaw detection method comprising: a flaw detection step of performing flaw detection inspection of the inspection object based on the delay time.   The ultrasonic sensor is rotated around an axis orthogonal to the direction of the ultrasonic beam oscillated from each of the ultrasonic sensors, and pulse echo is performed using one ultrasonic sensor of the set of ultrasonic sensors. The ultrasonic flaw detection method according to claim 10, further comprising a step of performing flaw detection.

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