JP2016050799A - Leak checkup device - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide a leak checkup device that can check up positions distant from the edge periphery of piping on the wall surface of a pressure vessel even if the pressure vessel and the piping are so surrounded by shield walls as to leave only very thin gaps.SOLUTION: A leak checkup device 100 is equipped with a main body 111; a pair of holding legs 112A and 112B rotatably linked to the main body 111; a guide pipe 122 so internally disposed in the main body 111 as to expose its tip side from one end side of the main body 111 in the axial direction and having on the tip side an opening 122a and a guide slope 122b providing liaison between the opening 122a and the interior; a checkup camera 124 inserted into the guide pipe 122; a push-pull member 119 that causes the main body 111 and the holding legs 112A and 112B to move back and forth in the axial direction of piping 12; and a wheel 115 that causes the main body 111 and the holding legs 112A and 112B to move rotationally in the circumferential direction of the piping 12.SELECTED DRAWING: Figure 1

Description

  The present invention relates to a leakage inspection apparatus that inspects leakage of fluid from pressure vessels of various plants and the like.

  If a crack or the like occurs due to deterioration or the like in the welded part between the pressure vessel and piping of various plants, etc., fluid such as gas leaks out from the crack, so when performing maintenance inspection work, etc. Check for presence. As a method for inspecting such a leaked portion, there are a phosphor addition method (coloring method) and a developing method that are performed by putting a liquid for inspection in the inner part of the inspection target portion. In the case of a difficult location, a foaming method is used in which a foaming liquid is attached to an external portion of the location to be inspected to inspect leakage of a fluid such as a gas.

Japanese Patent Laid-Open No. 10-020214

  When applying the foaming method as described above, if the pressure vessel and the pipe are surrounded by a shielding wall such as a heat insulating material so as to leave only a slight gap, the gap between the pipe and the shielding wall By inserting an industrial endoscope, a foaming liquid injection nozzle, and the like, a portion in the vicinity of the peripheral edge of the pipe is inspected. However, the industrial endoscope, the foaming liquid injection nozzle, and the like cannot be fed to a location on the wall surface of the pressure vessel that is away from the peripheral edge of the pipe, and the location cannot be inspected.

  For this reason, the present invention eliminates the location of the wall of the pressure vessel away from the peripheral edge of the pipe, even if the pressure vessel and the pipe are surrounded by a shielding wall so as to leave only a slight gap. An object of the present invention is to provide a leakage inspection apparatus that can be inspected.

  In order to solve the above-mentioned problem, a leak inspection apparatus according to a first invention is a semi-cylindrical main body part, and can be rotated at one end side in the circumferential direction at both ends in the circumferential direction of the main body part. A pair of arc-shaped gripping legs that are connected and have an inner surface with the same curvature as the inner surface of the main body, and the shaft of the main body so as to expose the tip side from one axial end of the main body A guide slope that connects the opening and the inside is provided on the front end side inside the main body portion along the direction and has an opening on the front end side that allows communication between the outer peripheral surface side and the inner peripheral surface side. A guide tube, an inspection camera inserted into the guide tube so as to be movable along the axial direction of the guide tube, and a cable connected to the camera body, and the body portion and the gripping leg portion are connected to the body portion. Reciprocating movement to reciprocate along the axial direction of Characterized in that it comprises a stage, and a pivotal movement means for pivotal movement of said body portion and said gripping legs about an axis centered on the axial direction of the main body portion.

  According to a second aspect of the present invention, there is provided a leak inspection apparatus according to the first aspect, further comprising inspection camera moving means for feeding and winding the cable of the inspection camera.

  Further, in the first or second invention, the leakage inspection apparatus according to the third aspect of the invention is inserted into the guide tube so as to be movable along the axial direction of the guide tube. An injection nozzle to which a hose is connected, and a foam liquid supply means for supplying the foam liquid to the hose of the injection nozzle are provided.

  According to a fourth aspect of the present invention, there is provided a leakage inspection apparatus according to the third aspect, further comprising: an injection nozzle moving means for feeding and winding the hose of the injection nozzle.

  The leak inspection apparatus according to a fifth aspect of the present invention is the leak inspection apparatus according to any one of the first to fourth aspects, wherein the reciprocating means is connected to the other end in the axial direction of the main body at the tip end side. A push-pull member having rigidity in the longitudinal direction and flexibility in the thickness direction, and a base end side of the push-pull member are connected to wind up and store the push-pull member on the peripheral surface, and the push-pull member And a reel that is rotatably supported so that it can be fed out.

  In addition, the leak inspection apparatus according to the sixth aspect of the present invention includes a pressure vessel, a pipe connected to the pressure vessel, and the pressure vessel and the pipe so as to have a gap between the pressure vessel and the pipe. A leakage inspection apparatus for inspecting leakage of fluid from the pressure vessel of a plant comprising a surrounding shielding wall, wherein the leakage inspection apparatus is any one of first to fifth leakage inspection apparatuses, the main body portion and the grip The leg portion forms an inner surface having the same curvature as the curvature of the outer peripheral surface of the pipe, and has a thickness smaller than a gap between the pipe and the shielding wall.

  Further, the leak inspection apparatus according to the seventh invention is the sixth invention, wherein the main body and the gripping leg are detachably held with respect to the outer peripheral surface of the pipe. And gripping leg rotation driving means for rotating the gripping leg.

  Further, the leak inspection apparatus according to the eighth invention is the pipe according to the sixth or seventh invention, wherein the main body and the inner surface of the gripping leg are brought into contact with the outer peripheral surface of the pipe. And a ball roller provided on the inner surface of the main body portion and the gripping leg portion so as to contact the outer peripheral surface of the main body.

  Further, in the leak inspection apparatus according to the ninth invention, in any of the sixth to eighth inventions, the swivel moving means abuts the entire inner surface of the gripping leg portion on the outer peripheral surface of the pipe. And a wheel provided on the gripping leg so as to come into contact with the outer peripheral surface of the pipe when rotated, and capable of driving and rotating about an axis centering on an axial direction of the main body.

  According to the leakage inspection apparatus of the present invention, the guide tube has an opening on the distal end side that allows communication between the outer peripheral surface side and the inner peripheral surface side, and a guide slope that communicates the opening and the inner portion on the inner distal end side. Since the cable of the inspection camera is pushed out along the axial direction of the guide tube, the posture of the camera body of the inspection camera is stabilized from the inside of the guide tube to the outside through the guide slope and opening. You can pay out.

  For this reason, for example, in a plant surrounded by a shielding wall so as to have a gap between the pressure vessel and the pipe, even when inspecting the leakage of fluid from the pressure vessel, the main body portion and the gripping leg portion are In addition to making the inner surface of the same curvature as that of the outer peripheral surface of the pipe, and making the thickness of the size smaller than the gap between the pipe and the shielding wall, the main body part is held on the pipe with the gripping leg part, After reciprocating means, the main body and the gripping leg are moved from the gap along the axial direction of the pipe, and then the inspection camera cable is pushed out along the axial direction of the guide tube to guide the camera body of the inspection camera. Since it can be fed out from the inside of the pipe to the outside through the guide slope and the opening in a stable state, it can be inspected even at a place away from the peripheral edge of the pipe, and the turning movement means By the parts and gripping legs are pivotal movement in the circumferential direction of the pipe, a portion away from the circumferential edge of the pipe can be inspected across the circumferential direction the entire length of the pipe.

It is a schematic block diagram of the principal part of main embodiment of the leakage inspection apparatus which concerns on this invention. FIG. 2 is a sectional view taken along the line II-II in FIG. 1. It is the III-III sectional view taken on the line of FIG. FIG. 4 is a sectional view taken along line IV-IV in FIG. 3. FIG. 5 is a cross-sectional view taken along line VV in FIG. 3. It is a schematic block diagram of the principal part of the reciprocating means of the leakage inspection apparatus of FIG. It is a schematic block diagram of the principal part of the injection nozzle moving means and foaming liquid supply means of the leakage inspection apparatus of FIG. It is a schematic block diagram of the principal part of the inspection camera moving means of the leakage inspection apparatus of FIG. It is a control block diagram of the principal part of the leakage inspection apparatus of FIG. It is action | operation explanatory drawing of the guide tube of the leak test | inspection apparatus of FIG. It is a schematic block diagram of an example of the pressure vessel and piping which apply the leak inspection apparatus concerning the present invention.

  Embodiments of a leakage inspection apparatus according to the present invention will be described with reference to the drawings. However, the present invention is not limited to the following embodiments described with reference to the drawings.

<Main embodiment>
A main embodiment of a leakage inspection apparatus according to the present invention will be described with reference to FIGS.

  In various plants, for example, as shown in FIG. 11, the pressure vessel 11 and the pipe 12 connected to the pressure vessel 11 have only a slight gap C therebetween by a shielding wall 13 such as a heat insulating material. Be surrounded. For example, the position P0 on the peripheral edge of the pipe 12 connected to the pressure vessel 11 inserts an industrial endoscope, a foaming liquid injection nozzle, and the like into the gap C from the opposite end of the pipe 12. It is possible to inspect. However, the industrial endoscope, the foaming liquid injection nozzle, and the like cannot be fed to the place P1 on the wall surface of the pressure vessel 11 away from the peripheral edge of the pipe 12, and inspect the part P1. I can't.

  As shown in FIGS. 1 to 5, the leak inspection apparatus 100 according to the present embodiment, which is made so as to be able to inspect such a place P <b> 1, has an inner surface with substantially the same curvature as that of the outer peripheral surface of the pipe 12. And a semi-cylindrical body portion (substantially C-shaped in the radial direction) having a thickness smaller than that of the gap C.

  On both ends in the circumferential direction of the main body 111 (lower side in FIGS. 1, 3 to 5), the curvature is substantially the same as the curvature of the outer peripheral surface of the pipe 12, that is, substantially the same curvature as the inner surface of the main body 111. One end side in the circumferential direction (upper side in FIGS. 1 and 3-5) of the arc-shaped gripping legs 112A and 112B having an inner surface and having a thickness smaller than the gap C is formed on the main body 111. It is connected via rotating shafts 113A and 113B so that it can be rotated around an axis along the axial direction (left and right direction in FIGS. 1 to 3).

  A ball roller 114 is rotatably embedded in the inner surface of the main body portion 111 and one of the gripping leg portions 112B, and the inner surface of the main body portion 111 and the gripping leg portion 112B is connected to the piping. It is set so that it can abut on the outer peripheral surface of the pipe 12 together with the inner surface when abutting on the outer peripheral surface of the pipe 12.

  A wheel 115 is rotatably supported on the inner surface of the other gripping leg portion 112A via a support shaft 116 oriented in the axial direction in the axial direction of the main body 111, and the wheel 115 is supported by the gripping leg portion. When the entire inner surface of the portion 112 </ b> A is in contact with the outer peripheral surface of the pipe 12, the portion 112 </ b> A is set so as to be able to contact the outer peripheral surface of the pipe 12.

  Drive motors 117A and 117B are connected to the rotation shafts 113A and 113B, respectively. By operating the drive motors 117A and 117B, the gripping leg portions 112A and 113B are connected via the rotation shafts 113A and 113B. The main body portion 111 and the gripping leg portions 112A and 112B are detachably held with respect to the outer peripheral surface of the pipe 12 by swinging the other circumferential side of 112B (the lower side in FIGS. 1 and 3 to 5). As described above, the gripping leg portions 112A and 112B can be rotationally driven with respect to the main body 111, that is, the gripping leg portions 112A and 112B can be opened and closed.

  A driving motor 118 is connected to the support shaft 116, and the entire inner surfaces of the gripping leg portions 112 </ b> A and 112 </ b> B abut against the outer peripheral surface of the pipe 12 so that the gripping leg parts 112 </ b> A and 112 </ b> B grip the pipe 12. When the driving motor 118 is operated, the wheel 115 is driven and rotated via the support shaft 116, and the main body 111 and the gripping leg 112A, via the ball roller 114. 112B can be swung around an axis centering on the axial direction of the main body 111, that is, along the circumferential direction of the pipe 12.

  On the base end side (the other end side in the axial direction / right side in FIGS. 1 and 2) of the main body 111, the front end side of a long push / pull member 119 that pushes and pulls the main body 111 along the axial direction ( The left side in FIGS. 1 and 2 is connected and fixed. As shown in FIGS. 6A and 6B, a reel 120 that is rotatably supported is disposed outside the shielding wall 13. A driving motor 121 is connected to the reel 120. The proximal end side (right side in FIG. 6) of the push / pull member 119 is connected to the outer peripheral surface of the reel 120.

  The push-pull member 119 has a plurality of rigid main plates 119a arranged in the push-pull direction (left and right direction in FIGS. 6A and 6B), and has flexibility in the thickness direction (up and down direction in FIG. 6B). A pair of connecting plates 119b having rigidity in the push-pull direction (left and right directions in FIGS. 6A and 6B), the width direction of the main plate 119a (vertical direction in FIG. 6A) on one side and the other side of the main plate 119a. By connecting the adjacent spaces, rigidity can be developed in the push-pull direction (longitudinal direction / left-right direction in FIGS. 1, 2, 6A, 6B) and possible in the thickness direction (vertical direction in FIG. 6B). It is designed to exhibit flexibility.

  The push / pull member 119 is wound and stored on the outer peripheral surface of the reel 120, and the drive motor 121 is operated when the gripping legs 112 </ b> A and 112 </ b> B are gripping the pipe 12, whereby the reel 120, the main body portion 111 and the gripping leg portions 112A and 112B are pushed and moved toward the pressure vessel 11 on the outer peripheral surface of the pipe 12, or wound and stored on the reel 120. The main body 111 and the gripping legs 112A and 112B are moved back from the pressure vessel 11 on the outer peripheral surface of the pipe 12, that is, the main body 111 and the gripping legs 112A and 112B are moved to the outer periphery of the pipe 12. It can be reciprocated along the axial direction of the main body 111 on the surface (the axial direction of the pipe 12). That.

  At the same time, when the main body 111 and the gripping legs 112A and 112B are positioned in the vicinity of the pressure vessel 11 and are swung in the circumferential direction of the pipe 12, It can be twisted following the turning movement of the main body 111.

  As shown in FIGS. 1 to 5, a guide tube 122 having a longitudinal direction along the axial direction (the left-right direction in FIGS. 1 to 3) of the main body 111 is provided in the main body 111. 1 to 3, and the base end side (right side in FIGS. 1 to 3) are exposed to the outside of the main body 111. The distal end side of the guide tube 122 is closed at the end in the axial direction, and on the radially outer side (the upper side in FIGS. 1, 3, 5) of the main body 111, the inner peripheral surface side and the outer peripheral surface side, An opening 122a is formed to communicate the.

  On the distal end side (left side in FIGS. 1 to 3) of the guide tube 122, the distal end side (left side in FIGS. 1 to 3) of the guide tube 122 is radially outward (FIG. 1, FIG. 1). 3, 5, and the opening 122 a between the inner circumferential surface of the guide tube 122 on the radially inner side (lower side in FIGS. 1, 3, 5) and the opening 122 a. A guide slope 122b that communicates with each other is formed.

  Inside the guide tube 122, an injection nozzle 123 in which the tip side (left side in FIGS. 1 to 3) of the hose 123b having rigidity in the axial direction and having flexibility in the radial direction is connected to the nozzle body 123a, The inspection camera 124 in which the distal end side (the left side in FIGS. 1 to 3) of the cable 124b having rigidity in the axial direction and having flexibility in the radial direction is connected to the camera body 124a includes the nozzle body 123a and the camera body. 124 a is inserted so as to be movable along the axial direction of the guide tube 122 toward the distal end side (left side in FIGS. 1 to 3) of the guide tube 122.

  As shown in FIG. 7, a reel 125 that is rotatably supported is disposed outside the shielding wall 13. A drive motor 126 is connected to one shaft end side (the lower side in FIG. 7) of the reel 125. Inside the reel 125, a connection hole 125a is formed to communicate between the other shaft end side (upper side in FIG. 7) and the outer peripheral surface. The other end side (the right side in FIG. 7) of the hose 123b of the injection nozzle 123 is connected to the connection hole 125a on the outer peripheral surface of the reel 125.

  As shown in FIG. 7, the foaming liquid 1 is stored inside a tank 127 disposed outside the shielding wall 13. A lower portion of the tank 127 is connected to a receiving port of the feed pump 128. The delivery port of the feed pump 128 is connected to one end side of the connection pipe 129. The other end of the connection pipe 129 is connected to an inner cylinder of a double-pipe coupling 130 in which an inner pipe and an outer pipe are connected to be rotatable in the circumferential direction. The outer tube of the coupling 130 is coupled to the connection hole 125a on the other shaft end side (the upper side in FIG. 7) of the reel 125.

  That is, in the injection nozzle 123, the hose 123b is wound and stored on the outer peripheral surface of the reel 125, and the drive motor 126 is operated to rotate the reel 125 to feed and wind the hose 123b. Accordingly, the nozzle body 123a can be moved following the reciprocating movement in the axial direction of the main body 111 and the turning movement in the circumferential direction, and the nozzles can be moved through the opening 122a of the guide tube 122. The main body 123a can be extended from the inside of the guide tube 122 to the outside or stored from the outside to the inside.

  At the same time, the injection nozzle 123 operates the feed pump 128 to cause the foamed liquid 1 in the tank 127 to pass from the connection pipe 129 to the coupling 130 and the connection hole 125a of the reel 125. It can be fed to the hose 123b via the nozzle body 123a and sprayed from the nozzle body 123a.

  As shown in FIG. 8, a reel 131 that is rotatably supported is disposed outside the shielding wall 13. A drive motor 132 is connected to one shaft end side (the lower side in FIG. 8) of the reel 131. The cable 124b of the inspection camera 124 is spirally wound around the outer peripheral surface of the reel 131. The other end of the cable 124b of the inspection camera 124 is connected to an image processing device 133 that processes image information from the camera body 124a.

  An image display device 134 that displays image information from the image processing device 133 is electrically connected to the image processing device 133. The cable 124b between the reel 131 and the image processing device 133 is disposed so as to wind a coil, so that a change in length between the reel 124 and the image processing apparatus 133 can be buffered (not shown). .

  That is, in the inspection camera 124, the cable 124b is spirally wound and held on the outer peripheral surface of the reel 131, and the drive motor 132 is operated to rotate the reel 131 so that the cable 124b is fed and wound. By performing the above, the camera body 124a can be moved following the reciprocating movement in the axial direction of the main body 111 and the turning movement in the circumferential direction, and through the opening 122a of the guide tube 122. The camera body 124a can be extended from the inside of the guide tube 122 to the outside or stored from the outside to the inside.

  As shown in FIG. 9, the drive motor 117A, 117B, 118, 121, 126, 132 and the feed pump 128 are electrically connected to an output section of a control device 140 that is a control means. The input unit of the control device 140 includes an input device 141 that is an input unit for inputting various signals, and a rotary encoder 142 that detects the amount of rotation of the rotation shafts of the drive motors 117A, 117B, 118, 121, 126, and 132. ˜147 are electrically connected to each other, and the control device 140, based on information from the input device 141 and the rotary encoders 142˜147, drives the drive motors 117A, 117B, 118, 121, 126, 132 and the operation of the feed pump 128 can be controlled (details will be described later).

  In this embodiment, the rotation shafts 113A and 113B, the drive motors 117A and 117B, the rotary encoders 142 and 143, and the like constitute grip leg rotation drive means, and the ball roller 114, The wheel 115, the support shaft 116, the drive motor 118, the rotary encoder 144, etc. constitute a turning movement means, and the ball roller 114, the push / pull member 119, the reel 120, the drive motor 121, and the rotary encoder 145, etc. constitute reciprocating means, and the reel 125, the drive motor 126, the rotary encoder 146, etc. constitute jet nozzle moving means, the reel 125, the tank 127, the feed pump 128, By connecting pipe 129, the coupling 130, etc. Configure the bubbling liquid feeding means, the reel 131, the drive motor 132, by such as the above rotary encoder 147 constitute the inspection camera moving means.

  Next, the operation of the leakage inspection apparatus 100 according to this embodiment will be described.

  First, when a signal for opening the gripping leg portions 112A and 112B is input from the input device 141 to the control device 140, the control device 140 opens the rotary encoder 142 so as to open the gripping leg portions 112A and 112B. , 143, the operation of the drive motors 117A, 117B is controlled.

  Next, after placing the main body portion 111 on the outer peripheral surface of the pipe 12 positioned outside the shielding wall 13, a signal to close the gripping leg portions 112A and 112B is sent from the input device 141 to the control device. When input to 140, the control device 140 controls the operation of the drive motors 117A and 117B based on information from the rotary encoders 142 and 143 so as to close the gripping legs 112A and 112B, and The main body 111 is held on the outer peripheral surface of the pipe 12.

  At this time, based on the information from the rotary encoder 143, the control device 140 closes the other gripping leg 112A to such an extent that the wheel 115 does not contact the outer peripheral surface of the pipe 12. By controlling the operation of the drive motor 117A, the wheel 115 is prevented from obstructing the reciprocating movement of the main body 111 in the axial direction.

  Next, when a signal indicating that the main body 111 is positioned in the vicinity of the position P0 at the peripheral edge of the pipe 12 connected to the pressure vessel 11 is input from the input device 141 to the control device 140, The control device 140 controls the operation of the drive motor 121 on the basis of information from the rotary encoder 145 and feeds the push-out member 119 wound and stored on the reel 120, whereby the main body portion 111. Is pushed out so as to be fed into the gap C, and the main body portion 111 and the gripping leg portions 112A and 112B are advanced and moved along the axial direction on the outer peripheral surface of the pipe 12 via the ball rollers 114.

  At this time, the control device 140 moves from the rotary encoders 146 and 147 so as to move the nozzle body 123a of the injection nozzle 123 and the camera body 124a of the inspection camera 124 following the advance movement of the body 111. Based on the above information, the operation of the drive motors 126 and 132 is controlled to feed out the hose 123b and the cable 124b from the reels 125 and 131.

  When the main body 111 is positioned in the vicinity of the location P0 in this way, the control device 140 is based on information from the rotary encoder 143 so that the wheel 115 is brought into contact with the outer peripheral surface of the pipe 12. Then, the operation of the drive motor 117A is controlled, and the pipe 12 is securely gripped by the gripping leg portions 112A and 112B.

  Subsequently, the control device 140 receives information from the rotary encoders 146 and 147 so that the nozzle body 123a of the injection nozzle 123 and the camera body 124a of the inspection camera 124 are positioned close to the location P1. Based on the control, the operation of the drive motors 126 and 132 is controlled, the hose 123b and the cable 124b are fed out from the reels 125 and 131, and the nozzle body 123a and the camera body 124a are moved inside the guide tube 122. From an opening 122a (see FIG. 10).

  Here, the opening 122a is formed on the outer side of the main body 111 in the radial direction of the guide tube 122, the inner peripheral surface of the guide tube 122 on the inner side in the radial direction of the main body 111, and the opening 122a. Since the gap is communicated by the guide slope 122b, the injection nozzle 123 and the inspection camera 124 are extended from the inside of the guide tube 122 to the outside in a state where the posture is stabilized, and smoothly to the point P1. Be guided by.

  Thus, when the nozzle body 123a of the injection nozzle 123 and the camera body 124a of the inspection camera 124 are positioned close to the location P1, the positions of the nozzle body 123a and the camera body 124a are finely adjusted. As described above, a signal is input to the input device 141 based on information displayed on the image display device 134 from the camera body 124a via the cable 124b and the image processing device 133. Accordingly, the control device 140 controls the operation of the drive motors 126 and 132 to finely adjust the feeding amount of the hose 123b and the cable 124b from the reels 125 and 131.

  Subsequently, when a signal indicating that the foaming liquid 1 is jetted from the nozzle body 123a of the jet nozzle 123 is input from the input device 141 to the control device 140, the control device 140 operates the feed pump 128. By controlling, the foaming liquid 1 in the tank 127 is fed, and the foaming liquid 1 is adhered to the location P1.

  Then, the portion P1 to which the foaming liquid 1 is attached is photographed by the camera body 124a of the inspection camera 124, and information is displayed on the image display device 134 via the cable 124b and the image processing device 133. The presence or absence of leakage of fluid such as gas at the location P1 where the foaming liquid 1 is adhered can be inspected.

  When the presence or absence of leakage of fluid such as gas at the location P1 to which the foaming liquid 1 is attached is thus inspected, the nozzle body 123a of the injection nozzle 123 and the camera body 124a of the inspection camera 124 are connected to the guide tube. When a signal to that effect is input from the input device 141 to the control device 140 so as to be temporarily stored in the inside of the control unit 122, the control device 140 determines the drive motor based on information from the rotary encoders 146 and 147. The hoses 123b and the cable 124b are wound around the reels 125 and 131 by controlling the operations of the 126 and 132.

  Next, when a signal to that effect is input from the input device 141 to the control device 140 so as to turn the main body 111 along the circumferential direction of the pipe 12 by a target angle, the control device 140 Controls the operation of the drive motor 118 so as to rotationally drive the wheel 115 based on information from the rotary encoder 145. As a result, the guide tube 122 is positioned so that the opening 122a is directed to a position rotated by a target angle in the circumferential direction of the pipe 12.

  At this time, although the twisting force is applied to the push / pull member 119 as the main body part 111 turns in the circumferential direction of the pipe 12, the push / pull member 119 has the structure described above. As a result, the main body 111 can be twisted following the turning movement of the main body 111, so that the turning movement of the main body 111 is not hindered.

  Subsequently, the control device 140 positions the nozzle body 123a of the injection nozzle 123 and the camera body 124a of the inspection camera 124 in the vicinity of a new place P1 different from the inspected place P1. In the same manner as described above, the operation of the drive motors 126 and 132 is controlled based on the information from the rotary encoders 146 and 147, and the hose 123b and the cable 124b are fed out from the reels 125 and 131. The nozzle body 123a and the camera body 124a are fed out from the inside of the guide tube 122 through the opening 122a (see FIG. 10).

  Then, by performing the same as in the case described above, it is possible to inspect whether or not there is leakage of a fluid such as a gas at a new location P1 different from the already-inspected location P1.

  Hereinafter, by repeating the above-described operation, the presence or absence of leakage of a fluid such as gas at the location P1 can be inspected over the entire length of the pipe 12.

  When the inspection of the presence or absence of leakage of fluid such as gas at the location P1 is thus completed over the entire length around the circumference of the pipe 12, a signal for returning the main body 111 to the initial position is sent from the input device 141. When input to the control device 140, the control device 140 operates the drive motors 117 A, 117 B, 118, 121, 126, 132 in the reverse order to the above description based on the information of the rotary encoders 142 to 147 and the like. And the operation of the leakage inspection apparatus 100 is terminated.

  Therefore, according to the leakage inspection apparatus 100 according to the present embodiment, even if the pressure vessel 11 and the pipe 12 are surrounded by the shielding wall 13 so as to leave only a slight gap C, the pressure vessel 11 It is also possible to inspect even the location P1 of the wall surface away from the peripheral edge of the pipe 12.

  Note that the lens of the camera body 124a of the inspection camera 124 can be appropriately selected according to various conditions such as a direct-view lens, a side-view lens, and a fish-eye lens.

<Other embodiments>
As another embodiment, for example, the guide tube 122 is provided in the main body portion 111 so as to be reciprocally movable along the axial direction of the main body portion 111, and the guide tube 122 is provided to the main body portion 111. By providing a guide tube reciprocating means for reciprocating along the axial direction, the position of the opening 122 a of the guide tube 122 can be finely adjusted with respect to the main body 111.

  Further, when there is a margin in the size of the gap C, as another embodiment, for example, a guide wall is erected on the peripheral edge of the opening 122a of the guide tube 122, so that the guide tube 122 It is also possible to further stabilize the feeding posture of the ejection nozzle 123 and the inspection camera 124 from the inside to the outside.

  The leak inspection apparatus according to the present invention inspects the location of the wall of the pressure vessel away from the peripheral edge of the pipe, even if the pressure vessel and the pipe are surrounded by a shielding wall so as to leave only a slight gap. Therefore, it can be used extremely beneficially industrially.

DESCRIPTION OF SYMBOLS 1 Foaming liquid 11 Pressure vessel 12 Piping 13 Shielding wall 100 Leakage inspection device 111 Main body part 112A, 112B Grasping leg part 113A, 113B Rotating shaft 114 Ball roller 115 Wheel 116 Support shaft 117A, 117B Drive motor 118 Drive motor 119 Push-pull member 119a Main plate 119b Connecting plate 120 Reel 121 Drive motor 122 Guide tube 122a Opening 122b Guide slope 123 Injection nozzle 123a Nozzle body 123b Hose 124 Inspection camera 124a Camera body 124b Cable 125 Reel 125a Connection hole 126 Drive motor 127 Tank 128 Feed pump 129 Connection pump Tube 130 Coupling 131 Reel 132 Drive motor 133 Image processing device 134 Image display device

Claims (9)

A semi-cylindrical body,
A pair of gripping legs having an arc shape having an inner surface with the same curvature as the inner surface of the main body part, each of which is rotatably connected to both ends in the circumferential direction of the main body part;
An opening provided in the main body portion along the axial direction of the main body portion so as to expose the front end side from one end side in the axial direction of the main body portion and communicating with the outer peripheral surface side and the inner peripheral surface side. And a guide pipe provided on the front end side of the guide slope connecting the opening and the inside,
An inspection camera inserted into the guide tube and connected to the camera body so that it can move along the axial direction of the guide tube;
Reciprocating means for reciprocating the main body and the gripping leg along the axial direction of the main body;
A leakage inspection device comprising: a turning movement means for turning the body portion and the gripping leg portion around an axis centering on an axial direction of the body portion. In the leak inspection apparatus according to claim 1,
A leakage inspection apparatus comprising inspection camera moving means for feeding and winding the cable of the inspection camera. In the leak inspection apparatus according to claim 1 or 2,
An injection nozzle inserted into the guide tube and connected to the nozzle body so that the hose is connected so as to be movable along the axial direction of the guide tube;
A leakage inspection apparatus comprising: a foaming liquid supply means for supplying foaming liquid to the hose of the spray nozzle. In the leak inspection apparatus according to claim 3,
A leakage inspection apparatus comprising an injection nozzle moving means for feeding and winding the hose of the injection nozzle. In the leak inspection apparatus according to any one of claims 1 to 4,
The reciprocating means is
A push-pull member having a distal end connected to the other axial end of the main body and having rigidity in the longitudinal direction and flexibility in the thickness direction;
And a reel supported rotatably so that the push-pull member can be wound around and stored in a peripheral surface while being connected to the base end side of the push-pull member and the push-pull member can be fed out. Leak inspection device. A pressure vessel;
Piping connected to the pressure vessel;
A leak inspection apparatus for inspecting fluid leakage from the pressure vessel of a plant, comprising a shielding wall surrounding the pressure vessel and the pipe so as to have a gap between the pressure vessel and the pipe,
It is a leakage inspection device according to any one of claims 1 to 5,
The main body part and the gripping leg part form an inner surface having the same curvature as that of the outer peripheral surface of the pipe, and have a thickness smaller than a gap between the pipe and the shielding wall. Leakage inspection device characterized. In the leak inspection apparatus according to claim 6,
A gripping leg rotation driving means is provided for rotating the gripping leg with respect to the main body so as to detachably hold the main body and the gripping leg with respect to the outer peripheral surface of the pipe. Leakage inspection device characterized by that. In the leak inspection apparatus according to claim 6 or 7,
A ball roller provided on the inner surface of the main body and the gripping leg so as to contact the outer peripheral surface of the pipe when the inner surface of the main body and the gripping leg is brought into contact with the outer peripheral surface of the pipe. Leakage inspection device characterized by comprising. In the leak inspection apparatus according to any one of claims 6 to 8,
The swivel moving means is
When the entire inner surface of the gripping leg is brought into contact with the outer peripheral surface of the pipe, it is provided on the gripping leg so as to come into contact with the outer peripheral surface of the pipe. Leakage inspection device characterized in that it is equipped with wheels that can be driven and rotated.

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