JP2019105579A - Travel device and pipe inspection system - Google Patents

Abstract

To provide a user-friendly pipe inspection system, and a travel device installed with an apparatus to inspect pipes, which can travel along the pipes.SOLUTION: A travel device 11 for travelling an apparatus along a pipe 201 in the longitudinal direction of the pipe 201, comprises: a pair of guide rails 20 which couple with a belt 25 and is disposed on both sides of the pipe 201; a travel rail 15 which supports the guide rails 20 and is equipped with the belt 25 placed on the pipe 201; a travel carriage 61 which an apparatus is installed therein and travels on the travel rail 15; and a transfer device 90 which transfers the travel carriage 61. The belt 25 has flexibility, the entire portion interposed between the pair of guide rails 20 contacts a pipe exterior wall 202, and the transfer device 90 is not for being installed in the travel carriage 61.SELECTED DRAWING: Figure 1

Description

BACKGROUND OF THE INVENTION Field of the Invention The present invention relates to a piping inspection apparatus for inspecting piping corrosion and the like, and a traveling device equipped with a device and traveling along piping.
In the present invention, the term “pipe” includes, in addition to a single pipe, a pipe which is covered with a heat insulating material, a heat insulating material, and a heat insulating sheet metal, unless otherwise specified.

  As a method of inspecting the corrosion of piping, there is known a method of irradiating radiation from the outer wall surface of the piping toward the center of the pipe, measuring the radiation amount transmitted through the piping with a sensor, and determining the corrosion amount of the piping. Usually, such an inspection method is carried out while mounting the inspection device on the traveling device and moving along the piping, so it is important to be able to easily and reliably set the traveling device and the inspection device.

  An inspection apparatus that travels on a pair of guide rails and a guide rail as a nondestructive inspection apparatus for piping that can reliably reciprocate the inspection apparatus main body and can be easily diverted to other piping. There is a nondestructive inspection device configured with a main body (see, for example, Patent Document 1).

  The nondestructive inspection device described in Patent Document 1 connects a pair of guide rails disposed on the left and right along a pipe with a belt, places the belt on the pipe, and adds the weight of the device body to the guide rail. It is characterized in that the belt is in pressure contact with the pipe, whereby the apparatus main body can be reliably reciprocated on the pipe and it is easy to divert it to other pipes.

JP, 2015-102446, A

  As a specific aspect, Patent Document 1 shows that a rail setting jig is used for connecting a guide rail and a belt. In this method, when the belt is placed on the pipe, only a part of the belt contacts the pipe. Such local contact is likely to cause positional deviation, and when the guide rail is set on the heat insulating sheet metal, a load is locally applied to the heat insulating sheet metal, which may cause the heat insulating sheet metal to be dented.

  In addition, when the number of pipes to be inspected is large and the pipes are long, the number of times of moving the inspection apparatus at the time of setting also inevitably increases. Considering these things, it is also important to lighten the inspection device and the traveling device. In order to further improve the usability, it is also important to center the guide rail when it is placed on the pipe. Given these points, there is room for improvement in the current nondestructive inspection system.

  An object of the present invention is to provide a convenient piping inspection device and a traveling device for carrying a device for piping inspection and for traveling along piping.

  The present invention is a traveling device for traveling a device in a longitudinal direction of a pipe along a pipe, comprising a pair of guide rails connected to a belt and disposed on the left and right of the pipe, and supporting the guide rail to carry out the pipe A traveling rail provided with a belt placed on the traveling carriage, a traveling carriage for carrying the equipment and traveling the traveling rail, and moving means for moving the traveling carriage, the belt being flexible A portion positioned between the pair of guide rails is in contact with the outer wall of the pipe, and the moving means is not mounted on a traveling carriage.

  According to the present invention, since the traveling rail can be installed only by placing the belt on the pipe, the installation of the traveling rail can be performed quickly. At this time, since all the belts located between the pair of guide rails contact the outer wall of the pipe, positional deviations are unlikely to occur even after installation, and the traveling rails can be stably held, and a rubber plate or the like having a large coefficient of friction is used. The traveling rail can be installed more stably.

  Further, in the traveling device of the present invention, the means for moving the traveling carriage is not mounted on the traveling carriage, so the weight of the traveling carriage is light, and the traveling and the carriage can be carried and installed easily. Furthermore, since the traveling carriage moving means is not mounted on the traveling carriage, the load (weight) applied to the piping is small. Therefore, even if the traveling rail is installed from above the heat insulating sheet metal, the sheet metal is not damaged.

  In the traveling device of the present invention, the belt is in contact with the outer wall of the pipe in the range of 180 ° in the circumferential direction.

  According to the present invention, when the traveling rail is installed in the pipe, the belt contacts a wide area with the outer wall of the piping, so that the positional deviation of the traveling rail is unlikely to occur even after the installation. Further, since the contact area of the belt with respect to the piping is wide, the load applied to the piping is dispersed, and the sheet metal is not damaged even when installed from above the heat insulating sheet metal.

  In the traveling device of the present invention, the belt is provided with a display indicating a center position between the pair of guide rails.

  In the method of placing the belt supporting the pair of guide rails on the pipe and installing the traveling rail, when the center of the belt deviates from the center of the pipe, the positions of the left and right guide rails become unbalanced, and the traveling carriage is stably traveled. I can not do it. In the traveling device according to the present invention, since the display indicating the central position between the pair of guide rails is provided on the belt, installation of the traveling rail is easy.

  In the traveling device of the present invention, the moving means includes a connector connected to the traveling carriage, and a winding device for winding the connector.

  Further, in the traveling device of the present invention, the connector is a wire rope, a fishing line, a synthetic resin rope, a rubber belt, a synthetic resin belt, a roller chain, or a timing belt.

  Since the traveling device of the present invention can constitute a moving means by a coupling device such as a wire rope coupled to the traveling carriage and a winding device for winding the coupling device, the winding device comprises a traveling carriage and a traveling rail. It can be installed at a place away from By separating the traveling carriage and the traveling rail from the moving means, restrictions on the structures of the traveling carriage, the belt and the traveling rail are reduced.

  In the traveling device according to the present invention, the traveling rail has rail interval changing means capable of changing the interval between the left and right guide rails, and the traveling carriage can change wheel interval changing means capable of changing the interval between the left and right traveling wheels. , And can be used for piping of different outer diameter.

  The traveling apparatus of the present invention has rail interval variable means and wheel interval variable means, and can be used for piping with different outer diameters, so there is no need to prepare traveling rails and traveling bogies for each different pipe diameter. It is convenient.

  In the traveling device according to the present invention, the traveling carriage includes an upper device installation portion and / or a lower device installation portion, and a support portion having a traveling wheel supporting the upper device installation portion and / or the lower device installation portion. It is characterized by comprising angle variable means capable of changing the connection angle between the upper device installation portion and / or the lower device installation portion and the support portion.

  For example, in the case where a pipe having a large diameter is irradiated with radiation and the corrosion state of the pipe is inspected from the transmitted radiation amount, it is necessary to irradiate the pipe with radiation from a plurality of angles. In the traveling device of the present invention, since the traveling carriage has a mechanism capable of changing the connection angle between the device installation portion and the support portion, the radiation generating device and the sensor can be easily arranged in an inclined state.

  The present invention is a pipe inspection apparatus including the traveling device and an inspection apparatus for inspecting a pipe.

  The pipe inspection apparatus according to the present invention has a traveling device that is lightweight and easy to install, so that pipe inspection can be performed quickly. The inspection apparatus that can be used here is not particularly limited, and an inspection apparatus that irradiates radiation and inspects a corrosion state, an inspection apparatus that inspects the appearance of piping with a camera, a thickness inspection apparatus using ultrasonic waves, etc. can be used .

  In the pipe inspection apparatus according to the present invention, the inspection apparatus is an apparatus for irradiating the pipe with radiation from the radiation generator, measuring the amount of penetrating radiation with a sensor, and inspecting the corrosion state of the pipe, the radiation being gamma rays It is characterized by

  If gamma rays are used in the inspection apparatus using radiation, the gamma ray generator is lighter in weight than the X-ray generator, so that transportation, installation and the like become easy.

  The present invention includes the traveling device and an inspection device for inspecting a pipe, wherein the inspection device irradiates the pipe with radiation from the radiation generator, measures a radiation amount to be transmitted by a sensor, and the corrosion state of the pipe It is an apparatus which inspects, The said radiation is an X-ray, It is a piping inspection apparatus characterized by the above-mentioned.

  The pipe inspection apparatus according to the present invention can also use X-rays for radiation.

  According to the present invention, it is possible to provide a convenient piping inspection device and a traveling device for traveling along piping by mounting a device for piping inspection.

BRIEF DESCRIPTION OF THE DRAWINGS It is a whole block diagram of the piping test | inspection apparatus 1 of 1st Embodiment of this invention. It is a perspective view which shows a mode that the piping 201 is test | inspected using the piping inspection apparatus 1 of 1st Embodiment of this invention. It is a sectional view showing a situation where inspection of piping 201 is carried out using piping inspection device 1 of a 1st embodiment of the present invention. It is a block diagram of the traveling rail 15 which comprises the piping test | inspection apparatus 1 of 1st Embodiment of this invention. It is an outline view of traveling truck 61 which constitutes piping inspection device 1 of a 1st embodiment of the present invention. It is a block diagram of fixtures 41, 42, 43, 44 of piping inspection device 1 of a 1st embodiment of the present invention. It is sectional drawing which shows the principal part structure of the piping test | inspection apparatus 2 of 2nd Embodiment of this invention. It is sectional drawing which shows the principal part structure of the piping test | inspection apparatus 3 of 3rd Embodiment of this invention.

  FIG. 1 is an entire configuration diagram of a pipe inspection apparatus 1 according to a first embodiment of the present invention, and FIG. 2 and FIG. 3 are perspective views showing inspection of a pipe 201 using the pipe inspection apparatus 1 4 and 5 are cross-sectional views, and FIG. 4 is a configuration view of a traveling rail 15 constituting the piping inspection device 1, and FIG. 5 is an external view of a traveling carriage 61 constituting the piping inspection device 1. In the present embodiment, the left and right of the pipe mean the left and the right when viewed from the cross section of the pipe 201, and mean the left and the right in FIG.

  The pipe inspection apparatus 1 according to the first embodiment of the present invention can be roughly divided into an inspection apparatus 101 that inspects the pipe 201, and a traveling apparatus 11 that carries the inspection apparatus 101 and travels. Hereinafter, the inspection apparatus 101 will be described as an apparatus that inspects the corrosion state of the pipe 201 using gamma rays. The pipe 201 in the present embodiment is a pipe in which the heat insulating material 206 and the heat insulating sheet metal 207 are applied to the pipe body 205, and the pipe axis Y of the pipe is horizontally disposed.

  The inspection apparatus 101 includes a gamma ray generator 103 disposed below the pipe 201 and irradiating gamma rays toward the pipe 201, and a line sensor 105 disposed above the pipe 201 and measuring a gamma dose transmitted through the pipe 201. The gamma ray generator 103 and the line sensor 105 are both mounted on a traveling carriage 61 that constitutes the traveling device 11.

  The inspection device 101 having the gamma ray generator 103 and the line sensor 105 shown in the present embodiment is not limited to a specific device, and a wide range of inspection devices can be used. Further, in the present embodiment, the sensor is disposed above the pipe 201 and the radiation source is disposed below, but the radiation source may be disposed above the pipe 201 and the sensor may be disposed below. You may arrange in the state inclined with respect to the vertical axis Z (it is only hereafter described as the vertical axis Z) to pass (refer FIG. 8).

  The radiation generator emits radiation to the pipe 201, and the device that measures the amount of transmitted radiation with a sensor and inspects the corroded state of the pipe 201 includes an apparatus using an esc line, but the gamma ray generator is an echo ray generator Because it is lighter than the above, it is preferable as an inspection device mounted on the traveling device 11 of the present embodiment.

  The traveling device 11 is a device for mounting the inspection device 101 and causing the inspection device 101 to travel along the pipe 201 in the direction of the tube axis Y, and moves the traveling rail 15, the traveling carriage 61, and the traveling carriage 61. And a moving device 90.

  The traveling rail 15 includes a pair of guide rails 20 on which the traveling carriage 61 travels and a belt 25 connecting the guide rails 20. The pair of guide rails 20 have the same structure and the same shape, and have a U-shaped cross section in relation to the shape of the traveling wheel 65 of the traveling carriage 61. The guide rail 20 is not limited to a specific shape, and may be, for example, a round pipe (see FIG. 6D). The guide rail 20 is preferably light in a range in which the traveling carriage 61 on which the inspection apparatus 101 is mounted can stably travel.

  The guide rail 20 is fixed at a predetermined position of the belt 25 via the attachment 40. When the traveling rail 15 is installed on the pipe 201 at the same position on the left and right with the center line 28 of the belt 25 as the predetermined position, the horizontal axis X (the center point O of the pipe 201 passes through) Hereinafter, it is attached so as to simply correspond to the horizontal axis X) (see FIG. 3). The case where the guide rail 20 coincides with the horizontal axis X of the pipe 201 includes the case where it is regarded as substantially coincident, as well as the case where the guide rail 20 is perfectly coincident.

  The length of the guide rail 20 is not particularly limited, but is preferably about 2 to 3 m. If the length of the guide rail 20 is about 3 m at the maximum, deformation such as twisting does not easily occur without special measures for reinforcement, and transportation, installation and the like are easy. When the piping 201 to be inspected is long, a plurality of traveling rails 15 may be arranged side by side in the direction of the pipe axis Y, or one traveling rail 15 may be sequentially moved.

  The belt 25 is connected to the guide rail 20, and when the traveling rail 15 is installed on the pipe 201, the belt 25 is locked to the pipe 201, and the traveling rail 15 is fixed on the pipe 201 and is in contact with the outer peripheral surface (outer wall surface) 202 of the pipe 201. , To prevent the displacement of the traveling rail 15. Therefore, the belt 25 can be referred to as an installation means or a fixing means of the traveling rail 15.

  The number of belts 25 may be two in order to support the guide rails 20 and install the traveling rails 15 in the pipe 201. Although three or more belts 25 may be used, two are preferable as long as the guide rails 20 and the traveling rails 15 can be stably supported by the two belts 25. The smaller the number of belts 25, the easier the installation.

  The length L of the belt 25 is slightly longer than half of the outer peripheral surface 202 of the pipe 201, and the guide rails 20 on the left and right are mounted on the horizontal axis X of the pipe 201 when the traveling rail 15 is installed in the pipe 201. It can be long enough to The length of the belt 25 only needs to be long enough to mount the left and right guide rails 20 on the horizontal axis X of the pipe 201, and it is not only uneconomical to make them unnecessarily long There is a risk that the end portion contacts another member and interferes with the installation.

  The width W and the thickness T of the belt 25 should be able to stably support the traveling rail 15 and the guide rail 20 when the traveling carriage 61 on which the inspection apparatus 101 is mounted is installed on the traveling rail 15, and should be unnecessarily large Absent.

  The belt 25 is provided with a center line 28 indicating a center position. If the center of the belt 25 deviates from the center of the pipe 201 when the traveling rail 15 is installed, the positions of the left and right guide rails 20 become unbalanced, and the traveling carriage 15 can not be stably traveled. Since the display indicating the center line 28 is provided, the center of the belt 25 and the center of the pipe 201 can be easily aligned.

  The belt 25 is made of a flexible material, and when the traveling rail 15 is installed in the pipe 201, all the portions positioned between the left and right guide rails 20 are in contact with the outer peripheral surface 202 of the pipe 201 (see FIG. 3) . In the traveling rail 15 of the present embodiment, when the traveling rail 15 is installed in the pipe 201, the left and right guide rails 20 are attached to coincide with the horizontal axis X of the pipe 201. The outer circumferential surface 202 is in contact with the outer circumferential surface in the range of 180 °.

  The belt 25 is preferably made of a material having a small elongation, that is, a material having a small modulus of longitudinal elasticity. If a material having a large elongation rate is used for the belt 25, the position of the guide rail 20 is different before and after the traveling carriage 61 on which the inspection device 101 is mounted on the traveling rail 15 is difficult to align. Since the elongation of the belt 25 differs depending on not only the longitudinal elastic modulus of the material but also the width W and thickness T of the belt 25, it is necessary to take account of these.

  The belt 25 is preferably made of a material having a large coefficient of friction with the outer peripheral surface 202 of the pipe 201. Since the installation and fixing of the traveling rail 15 to the pipe 201 is only to place the traveling rail 15 on the pipe 201, the frictional force between the belt 25 and the outer peripheral surface 202 of the pipe 201 causes the traveling rail 15 to be pipe 201 It is important to keep stable against.

  As a material having the above-mentioned characteristics, rubber may be mentioned, and a rubber plate having flexibility, low elongation, and a large coefficient of friction with respect to the outer peripheral surface 202 of the pipe 201 can be suitably used. Further, rubber is a material that easily transmits gamma rays, which is also preferable in this respect.

  The belt 25 may be other than rubber as long as it has the above-mentioned characteristics. The belt 25 may be a stack of two or more materials. For example, the belt 25 may be an adhesive material attached to the surface 26 in contact with the outer peripheral surface 202 of the pipe 201. The belt 25 to which the adhesive material is attached is preferable because it is likely to be in close contact with the pipe 201 and hard to shift from the pipe 201. However, the adhesive material needs to be one that does not damage the pipe 201, such as not peeling off the paint applied to the heat insulating sheet metal 207, and a material that easily transmits gamma rays is preferable.

  The attachment 40 is a member for attaching the guide rail 20 to the belt 25, and two attachment members 40 are attached to each belt 25. The fixture 40 has a receiving portion 47 having a U-shaped cross section, and a mounting portion 48 provided so as to extend one piece of the receiving portion 47.

  The receiving portion 47 is a portion into which the guide rail 20 is fitted, and supports the fitted guide rail 20 without loosening. The attachment portion 48 is a portion for fixing the attachment 40 to the belt 25 and is adhered to the belt 25.

  When the left and right guide rails 20 are mounted to coincide with the horizontal axis X of the pipe 201 as in the traveling rail 15 of the present embodiment, the belt 25 is slightly curved in a region slightly above the horizontal axis X of the pipe 201 However, the region below the horizontal axis X of the pipe 201 hangs down from the pipe 201 and is parallel to the vertical axis Z. Therefore, the mounting tool 40 attached to such a belt 25 may be easily manufactured since the mounting portion 48 may be a flat plate, and the angle between the bottom surface of the receiving portion 47 and the mounting portion 48 may be perpendicular (see FIG. 3).

  The fixing method of the fixture 40 to the belt 25 is not particularly limited, and may be bolting or the like. Moreover, although the fixture 40 of this embodiment is separated from the guide rail 20, the fixture and the guide rail 20 may be connected inseparably. The mounting tool is not particularly limited in structure and shape as long as it can be fixed firmly to the belt 25 without making the guide rail 20 wobble, and it is preferable that the mounting tool can be easily fixed to the belt 25.

  Other fixtures 41, 42, 43, 44 are shown in FIG. The fixture 41 has the same basic configuration as the fixture 40, and has a receiving portion 47 having a U-shaped cross section, and a mounting portion 48 provided so as to extend one piece of the receiving portion 47. The attachment portion 48 of the attachment 41 is fixed to the belt 25 by a bolt 53.

  The fixture 42 has a receiving portion 47 having a U-shaped cross section, and a mounting portion 48 provided with a hook 50 at the tip end portion of the receiving portion 47 so as to extend one piece thereof. On the other hand, the belt 25 is provided with a locking portion 29 reinforced by the reinforcing plate 30, which the hook 50 of the mounting tool 42 locks, and the mounting tool 42 hooks the hook 50 to the locking portion 29 and locks Do.

  The fixtures 40, 41 and 42 are separate from the fixture and the guide rail 20, but the fixtures 43 and 44 are integrated with the guide rail and the fixture. The mounting tool 43 is formed by extending a piece of the guide rail 21 having a U-shaped cross section and providing a hook 50 at its tip. On the other hand, a hook 51 is attached to the surface (front surface) 27 of the belt 25 and a hook 51 is attached, and the guide rail 20 hooks the hook 50 onto the hook 51 and locks.

  The fixture 44 is a substantially L-shaped member, and its tip is fixed to the bottom of the pipe-like guide rail 22, and its long side is adhered to the belt 25. The fixture 44 may be screwed to the belt 25 or, similarly to the fixture 43, the hook 50 is provided, and the locking portion 29 and the locking body 51 provided on the belt 25 are locked and fixed. May be

  The traveling carriage 61 has traveling wheels 65, and equipment installation units 66 and 71 for installing the gamma ray generator 103 and the line sensor 105, which are the inspection devices 101, for mounting the inspection device 101 and traveling the traveling rails 15. And a support unit 67 connected to the device installation units 66 and 71.

  The device mounting portion 66 is a frame in which a member having a L-shaped cross section and a flat plate are arranged in a rectangular shape and which is open at both the top surface and the bottom surface, and the line sensor 105 is installed. The device installation unit 66 has a size capable of installing the line sensor 105, and stably stores the line sensor 105. It is preferable that the device installation unit 66 attach an impact absorbing material such as a rubber plate to a portion in contact with the line sensor 105.

  The support portion 67 is composed of four legs 68 and two connection pieces 69 connecting the lower portions of the front and rear legs 68, and is connected to the device installation portions 66 and 71 to support them. A traveling wheel 65 is provided at the bottom of each leg 68, and the upper end of each leg 68 is connected to the four corners of the bottom of the device mounting portion 66 to support the device mounting portion 66. The distance between the left and right of the support portion 67 is set to be the same as the distance between the left and right guide rails 20 of the travel rail 15 installed in the pipe 201 so that the traveling wheel 65 fits into the guide rail 20. The distance between the front and rear legs 68 supports the device installation section 66 stably, and is set to a distance at which the traveling carriage 61 can stably travel.

  In the present embodiment, the leg 68 is connected to the four corners of the device installation unit 66 because the size of the device installation unit 66 in plan view and the size of the support unit 67 in plan view coincide with each other. There is no. The size of the device mounting portion 66 depends on the size of the device to be mounted, and the leg 68 depends on the distance between the left and right guide rails 20. It is natural that the leg 68 is not connected to the four corners of the device mounting portion 66. It can be

  The length (height) of the leg 68 is a length that allows a slight gap between the bottom of the device mounting portion 66 and the outer peripheral surface 202 of the pipe 201 when installed on the traveling rail 15.

  Although a member having an L-shaped cross section is also used for the support portion 67, the present invention is not limited to this, and a flat plate, a square pipe or the like may be used. However, a member having an L-shaped cross section represented by angle steel is preferable because it can be made compact because it is resistant to deformation.

  The device installation section 71 is composed of two hanging pieces 72 attached to the lower end of the left leg 68 so as to pass the guide rail 20 and a connecting piece 73 connecting the lower ends of the two hanging pieces 72. The gamma ray generator 103 is installed with the connection piece 73 as a support.

  The length of the hanging piece 72 is a length that allows a slight gap between the gamma ray generator 103 and the outer peripheral surface 202 of the pipe 201 when the traveling carriage 61 on which the gamma ray generator 103 is installed is installed on the traveling rail 15 . In the present embodiment, the device installation section 71 is connected to the left leg 68, but may be connected to the right leg 68.

  The structure and shape of the traveling carriage 61 are not limited to those in this embodiment, as long as the device is firmly fixed and the traveling rail 15 can be stably traveled in a state where the device is mounted.

  The moving device 90 mainly includes a wire winding device 91, connects the wire 92 to the traveling carriage 61, and moves the traveling carriage 61 installed on the traveling rail 15 by winding the wire 92. The wire winder 91 includes a speed controller and a distance encoder 93, can adjust the winding speed of the wire 92, and detects the winding amount of the wire 92. The wire winding device 91 and the speed controller and distance encoder 93 are not mounted on the traveling carriage 61.

  The usage method of the piping inspection apparatus 1 is demonstrated.

  The two belts 25 are mounted on the pipe 201 at an interval and back and forth. At this time, the center line 28 provided on the belt 25 and the center of the pipe 201 are made to coincide with each other by visual observation. Thereafter, the guide rail 20 is fitted into the receiving portion 47 of the attachment 40 attached to the belt 25 to complete the installation of the traveling rail 15.

  The gamma ray generator 103 is attached to the traveling carriage 61 and installed at a predetermined position of the traveling rail 15. The line sensor 105 is placed on the equipment installation section 66 at the top of the traveling carriage 61, and the wire 92 of the wire winding device 91 is connected to the equipment installation section 66. The gamma ray generator 103, the line sensor 105, the distance encoder 93 of the wire winding device 91, etc. are connected to the controller 95 to complete the preparation. A data processor 96 is connected to the controller 95.

  The control device 95 and the like are activated, the gamma ray generator 103 and the like are operated, the wire winding device 91 is operated, the wire 92 is taken up, and the piping 201 is inspected while moving the traveling carriage 61.

  As described above, the piping inspection apparatus 1 according to the first embodiment can install and fix the traveling rail 15 only by placing the belt 25 connecting the pair of guide rails 20 on the piping 201, so that the traveling rail 15 can be fixed. Space and footing are not required, and the installation of the traveling rail 15 can be performed quickly. Also, due to the construction of the traveling rail 15, there is no metallic object on the sensor lead, so the data is not adversely affected.

  Further, all the belts 25 located between the pair of guide rails 20 contact the pipe outer peripheral surface 202, and the belt 25 can be brought into contact with the pipe outer peripheral surface 202 at a maximum in the range of 180 ° in the circumferential direction. Therefore, even after installation, positional deviation does not easily occur, and the traveling rail 15 can be stably held. The travel rail 15 can be more reliably fixed by using a rubber plate or the like having a large coefficient of friction.

  Further, since the contact area of the belt 25 with the pipe 201 is large, the load applied to the pipe 201 is dispersed, and even when the heat insulating sheet metal 207 is installed from above, the heat insulating sheet metal 207 is not damaged such as dents.

  Moreover, as for the piping test | inspection apparatus 1, the structure of the traveling apparatus 11 is simple, the number of parts is also small, and weight reduction is carried out. Furthermore, since the moving device 90 for moving the traveling carriage 61 is not mounted on the traveling carriage 61, the traveling carriage 61 is light, and the transportation and installation of the traveling device 11 can be performed easily. Since the weight of the traveling rail 15 and the traveling carriage 61 is light, the load applied to the pipe 201 is small, and even when these are installed from above the heat insulating sheet metal 207, the heat insulating sheet metal 207 is not damaged. Further, since the traveling carriage 15 and the moving device 90 are separated, the restriction on the structure and the like of the traveling carriage 61 and the traveling rail 15 is reduced.

  FIG. 7 is a cross-sectional view showing the main configuration of a pipe inspection apparatus 2 according to a second embodiment of the present invention. The same members as those of the pipe inspection apparatus 1 according to the first embodiment of the present invention shown in FIG. 1 to FIG.

  The piping inspection device 2 has the same basic configuration as the piping inspection device 1, but the configuration of the traveling device 12 is different from the traveling device 11 of the first embodiment. The traveling device 11 of the first embodiment is a dedicated traveling device 11 corresponding to the size (outside diameter) of the pipe 201. For this reason, it is not necessary to particularly change the distance between the left and right guide rails 20. On the other hand, the traveling device 12 of the pipe inspection device 2 is configured to be able to cope with the pipes 201 having different outer diameters.

  The traveling device 12 can correspond to two types of pipes 201 having different outer diameters. In FIG. 7, the traveling device 12 is installed in a pipe 201 having a small outer diameter (hereinafter, a small pipe 201). The positions of the support portion 67 of the traveling carriage 62, the traveling wheels 65, the guide rails 20 and the like shown by imaginary lines in FIG. 7 correspond to the case where the traveling device 12 is installed in the large pipe 201 (hereinafter, the large pipe 201). Here, it is assumed that the large pipe 201 has the same diameter as the pipe 201 of the first embodiment.

  The length of the belt 25 is a length that can correspond to the large pipe 201, and when the traveling rail 16 is installed in the small pipe 201, the portion from the fixture 45 toward the end portion hangs down .

  The attachment 45 of the present embodiment is a type of attachment fixed to the belt 25 with a bolt 53. The attachment position of the attachment 45 to the belt 25 is also different between the small pipe 201 and the large pipe 201, so the bolt 25 for the small pipe 201 and the large pipe 201 and the nut storage hole 33 are bored in the belt 25. ing. In addition, in the bolt insertion hole 32 and the nut storage hole 33, indications for the small pipe 201 and the large pipe 201 are given. In the present embodiment, the bolt insertion holes 32 for the small pipe 201 and the large pipe 201 provided in the belt 25 function as rail interval variable means.

  The mounting tool 45 is different in form from the mounting tool 40 of the first embodiment, and the L-shaped mounting portion 48 is connected to the receiving portion 47 and bolt 53 is fixed to the belt 25. Same as 40.

  The basic structure of the traveling carriage 62 is the same as that of the traveling carriage 61, but the distance between the left and right traveling wheels 65 is different between the small pipe 201 and the large pipe 201, and the leg 68 changes the position with respect to the device installation unit The bolt 75 is possible. Further, bolt insertion holes 76 for the small pipe 201 and the large pipe 201 are bored in the equipment installation portion 66. The lengths of the legs 68 of the traveling carriage 62 and the lengths of the hanging pieces 72 correspond to those for the large pipe 201. In the present embodiment, the bolt insertion holes 76 for the small pipe 201 and the large pipe 201 provided in the device installation portion 66 function as a wheel interval variable device.

  The usage method of the piping inspection apparatus 2 which consists of the above, an effect | action, and an effect are basically the same as the piping inspection apparatus 1 of 1st Embodiment. The pipe inspection apparatus 2 is convenient because the traveling device 12 is configured to be compatible with two types of pipes 201 having different outer diameters. In addition, although the traveling device 12 of this embodiment can respond to two types of piping 201 with which outer diameters differ, it is also possible to make it respond | correspond to three types of piping 201 with which outer diameters differ.

  FIG. 8 is a cross-sectional view showing the main configuration of a pipe inspection device 3 according to a third embodiment of the present invention. The same members as those of the pipe inspection apparatus 1 according to the first embodiment of the present invention shown in FIG. 1 to FIG.

  When inspecting the pipe 201 in a wide range, it is necessary to irradiate radiation to the pipe 201 not only in the vertical axis Z direction but also at an angle inclined with respect to the vertical axis Z. The piping inspection device 3 is an inspection device corresponding to this, and the configuration of the traveling device 13 is different from that of the traveling device 11 of the first embodiment.

  The traveling carriage 63 is composed of two curved pieces 78 arranged in the front and back of the support portion 67 curved in an arc shape and a connecting piece (not shown) connecting the two curved pieces 78 and travels to the lower end of the curved piece 78 Wheels 65 are attached. The curved piece 78 has a shape along the belt 25 with a slight clearance from the belt 25 in a side view (see FIG. 8).

  The device mounting portion 66 is provided with a connecting piece 79 connected to the curved piece 78 at the front and rear bottom portions of the rectangular frame. The connecting piece 79 has an arc shape whose base is the same as the radius of curvature of the upper side of the curved piece 78.

  In the support portion 67 and the device installation portion 66, bolt insertion holes for connecting each other are bored, and the support portion 67 and the device installation portion 66 are fastened with bolts 80. The bolt insertion holes 81, 82, 83 of the support portion 67 have the device installation portion 66 with respect to the vertical axis Z in addition to the bolt insertion holes 81 for arranging the device installation portion 66 orthogonal to the vertical axis Z of the pipe 201. These bolt insertion holes 82 and 83 are for installation at an inclination angle ± θ. In the present embodiment, the bolt insertion holes 81, 82, 83 of the support portion 67 function as angle variable means capable of changing the connection angle between the device installation portion 66 and the support portion 67.

  The device installation section 71 includes two L-shaped pieces 85 connected to the lower left ends of the two curved pieces 78, two curved pieces 86 connected to the lower ends of the L-shaped pieces 85, and two curved pieces disposed in the front and rear direction. It is comprised by the connection piece 87 which ties the piece 86. FIG. The curved piece 86 has a shape along the pipe 201 at a constant distance from the pipe 201 in a side view (see FIG. 8).

  The gamma ray generator 103 is fixed to the connection piece 87. For this reason, the connection pieces 87 are attached to the device installation section 71 at three locations. The gamma ray generator 103 fixed to the upper connecting piece 87 has a gamma ray irradiation angle of -θ with respect to the vertical axis Z, and the gamma ray generator 103 fixed to the middle part connecting piece 87 has a gamma ray irradiation angle In the gamma ray generator 103 fixed to the lower connection piece 87 at 0 ° with respect to the vertical axis Z, the irradiation angle of the gamma ray is + θ with respect to the vertical axis Z.

  When the positions of the gamma ray generator 103 and the device installation unit 66 are changed to emit gamma rays from the angle θ with respect to the vertical axis Z of the pipe 201 using the pipe inspection device 3, the traveling carriage 63 and the belt 25 It becomes easy to shift. In order to prevent this, it is preferable to attach a balancer 88 to the traveling carriage 63.

  The balancer 88 is a cylindrical weight, and is provided with male screws which can be inserted into the bolt insertion holes 82 and 83 at both ends. The balancer 88 is fixed by being inserted into the bolt insertion hole 83 closer to the traveling wheel 65 among the bolt insertion holes 83 when the equipment installation portion 66 is attached at an angle of θ with respect to the vertical axis Z of the pipe 201 (See Figure 8).

  When the pipe inspection apparatus 3 is used to inspect the pipe 201, the gamma ray generator 103 and the line sensor 105 are disposed to face each other with the pipe 201 in between, and 0 ° and ± with respect to the vertical axis Z of the pipe 201. The pipe 201 can be inspected by irradiating gamma rays from the angle of θ. In the case of irradiating gamma rays from an angle of ± θ with respect to the vertical axis Z of the pipe 201, it is preferable to attach a balancer 88.

  The method of use, operation, and effects of the pipe inspection apparatus 3 configured as described above are basically the same as the pipe inspection apparatus 1. The pipe inspection apparatus 3 is provided with a treatment for the traveling device 13 so that the pipe 201 can be inspected by irradiating gamma rays from angles of 0 ° and ± θ with respect to the vertical axis Z of the pipe 201, and a gamma ray generator The positions of the line sensor 103 and the line sensor 105 can be easily changed, which is convenient.

  As mentioned above, although the traveling device and piping inspection device concerning the present invention were explained using piping inspection devices 1, 2, 3 of the 1st-3rd embodiment, the traveling device and piping inspection device concerning the present invention are the above-mentioned embodiments The subject matter of the present invention is not limited to the above, and can be changed without changing the subject matter.

  In the pipe inspection apparatus 1 according to the first embodiment, as the moving device 90, the moving device in which the wire 92 is connected to the traveling carriage 61 and the wire 92 is wound by the wire winder 91 has been described. It is not a thing. A fishing line, a synthetic resin rope, a rubber belt, a synthetic resin belt, a roller chain or a timing belt is used in place of the wire (wire rope) 92 as a coupling tool connected to the traveling carriage 61, and it is replaced with a wire winding device. It is possible to use a winding device compatible with a connector such as a timing belt.

  In the traveling device and the piping inspection device according to the present invention, the moving device for moving the traveling carriage can widely use moving devices in which the traveling carriage and the moving device are separated and the moving device is not mounted on the traveling carriage.

  In the pipe inspection devices 1, 2 and 3 according to the first to third embodiments, the pair of guide rails 20 is disposed on the horizontal axis X, but if there is another pipe or the like near the pipe 201, the pair of guide rails It is also assumed that 20 can not be arranged on the horizontal axis X. Even in this case, the pair of guide rails 20 should be as close to the horizontal axis X as possible, so that all the belts 25 positioned between the pair of guide rails 20 contact the outer peripheral surface 202 of the pipe 201. Preferably, the belt contacts the outer circumferential surface 202 of the pipe 201 in the range of 180 ° in the circumferential direction.

  Although the pipe inspection apparatus 2 of the second embodiment is shown as a pipe inspection apparatus capable of dealing with different pipe diameters, the pipe inspection apparatus capable of dealing with different pipe diameters is limited to the pipe inspection apparatus 2 of the second embodiment. is not. Also, although the pipe inspection apparatus 3 of the third embodiment is shown as a pipe inspection apparatus capable of irradiating radiation from an angle inclined to the vertical axis Z with respect to the pipe 201, a pipe inspection capable of irradiating radiation from the inclined angle An apparatus is not limited to piping inspection device 3 of a 3rd embodiment.

  Moreover, although the example which uses a gamma ray as an inspection apparatus was shown in the said embodiment, it is also possible to use an X ray for radiation. Moreover, although the example which uses a radiation as an inspection apparatus 101 of the piping 201 was shown, the inspection apparatus 101 is not limited to this. For example, a camera may be used as the inspection apparatus 101, and the camera may be mounted on a traveling apparatus and moved along the pipe 201 to perform an appearance inspection of the pipe 201. Alternatively, the thickness of the pipe may be measured using an ultrasonic thickness gauge as the inspection apparatus 101.

  In the above embodiment, an example of inspecting the pipe 201 in which the heat insulating material 206 and the heat insulating sheet metal 207 are applied to the pipe main body 205 in the pipe 201 has been described, but the pipe 201 may be a pipe consisting of only the pipe main body 205 It is natural.

  While the preferred traveling and piping inspection system has been described with reference to the drawings, those of ordinary skill in the art will readily envision various changes and modifications within the obvious scope in view of the present specification. Accordingly, such changes and modifications are to be construed as being within the scope of the invention as defined in the appended claims.

Reference Signs List 1, 2, 3 Piping inspection apparatus 11, 12, 13, 13 traveling devices 15, 16 traveling rails 20, 21, 22 guide rails 25 belts 28 center lines 61, 62, 63 traveling bogies 65 traveling wheels 66 equipment installation parts 67 supporting parts 71 Equipment installation portion 76 Bolt insertion hole 78 Curved pieces 81, 82, 83 Bolt insertion hole 88 Balancer 90 Moving device 91 Wire winding device 101 Inspection device 103 Gamma ray generator 105 Line sensor 201 Piping 202 Piping outer peripheral surface Z Piping vertical axis Pipe axis of Y piping X Horizontal axis of piping

Claims (10)

A traveling device for traveling a device in a longitudinal direction of a pipe along the pipe,
A pair of guide rails connected to the belt and disposed on the left and right of the pipe, and a traveling rail including the belt supported on the pipe and supporting the guide rail;
A traveling carriage mounted with equipment and traveling on the traveling rail;
Moving means for moving the traveling carriage;
Equipped with
The belt has flexibility, and all portions located between the pair of guide rails contact the outer wall of the pipe,
The travel device is characterized in that the moving means is not mounted on a traveling carriage.   The traveling device according to claim 1, wherein the belt contacts the outer wall of the pipe in a range of 180 ° in a circumferential direction.   The traveling device according to claim 1 or 2, wherein the belt is provided with a display indicating a central position between the pair of guide rails. The moving means includes a connector connected to the traveling carriage, and a winding device for winding the connector.
The traveling device according to any one of claims 1 to 3, further comprising:   The travel device according to claim 4, wherein the connector is a wire rope, a fishing line, a synthetic resin rope, a rubber belt, a synthetic resin belt, a roller chain, or a timing belt. The traveling rail has rail space variable means capable of changing the space between the left and right guide rails,
The traveling truck has wheel interval varying means capable of changing the interval between the left and right traveling wheels,
The traveling device according to any one of claims 1 to 5, wherein the traveling device can be used also for pipes having different outer diameters. The traveling carriage is
Upper equipment installation part and / or lower equipment installation part,
A support having a traveling wheel for supporting the upper device installation portion and / or the lower device installation portion;
Angle variable means capable of changing a connection angle between the upper device installation portion and / or the lower device installation portion and the support portion;
The traveling device according to any one of claims 1 to 6, further comprising: A traveling device according to any one of claims 1 to 7;
An inspection device for inspecting piping;
A pipe inspection apparatus comprising: The inspection apparatus is an apparatus which irradiates radiation from the radiation generator to the pipe, measures the amount of penetrating radiation with a sensor, and inspects the corrosion state of the pipe,
The pipe inspection apparatus according to claim 8, wherein the radiation is a gamma ray. A traveling device according to any one of claims 1 to 6,
An inspection device for inspecting piping;
Including
The inspection apparatus is an apparatus which irradiates radiation from the radiation generator to the pipe, measures the amount of penetrating radiation with a sensor, and inspects the corrosion state of the pipe,
The pipe inspection apparatus characterized in that the radiation is an X-ray.

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