JP2020197391A - Welded portion inspection device - Google Patents

Abstract

To provide a welded portion inspection device capable of efficiently inspecting a huge number of inspection points with little disturbance in a waveform indicating vibration intensity measured by a sensor.SOLUTION: The welded portion inspection device includes an impact target member determination unit, a vibrating body, a sensor unit, and a calculation unit. The impact target member determination unit determines one of a to-be-welded material on the backside and a to-be-welded material on the front side. The vibrating body applies a shock to one of the to-be-welded materials determined by the impact target member determination unit. The sensor unit measures first vibration intensity of a shock wave propagated to the other to-be-welded material by the shock and measures second vibration intensity of the shock wave propagating through one of the to-be-welded materials by the shock. The calculation unit uses a calibration curve corresponding to a ratio of the first and second vibration intensities to inspect a throat thickness of a welding portion.SELECTED DRAWING: Figure 7

Description

The present invention relates to a welded portion inspection device. Specifically, the present invention relates to an inspection device for welded parts such as the bottom plate of an oil tank.

The bottom of a large liquid storage tank, such as an oil tank, is formed by stacking a huge number of plates on the surface of the earth and welding them from the side that does not face the surface of the earth. Patent Document 1 describes an inspection device and an inspection method for inspecting a welded portion with a simple operation on an inspection target in which plate materials are overlapped on the ground surface and fillet welded, such as a bottom plate of an oil tank. Is disclosed. The inspection device described in Patent Document 1 includes a vibrating body that gives an impact to the first plate material among the fillet-welded first and second plate materials, and a welded portion between the first plate material and the second plate material. A sensor for measuring the vibration intensity of the shock wave propagating from the first plate material to the second plate material is provided. Further, the inspection device includes a calculation unit that calculates an inspection parameter (for example, throat thickness) of the welded portion by using the vibration intensity measured by the sensor.

The inspection device described in Patent Document 1 includes a table and a shaft member that is inserted through a guide penetrating the table and can move in a direction orthogonal to the table surface. The shaft member is connected to the sensor via a universal joint, and a spring member is provided between the universal joint and the guide. Then, the sensor is pressed against the second plate member via the universal joint by the elastic force of the spring member.

Japanese Unexamined Patent Publication No. 2015-184076

In the inspection device described in Patent Document 1, the sensor is connected to a spring member for pressing the sensor against the second plate material via a universal joint. For this reason, the waveform indicating the vibration intensity measured by the sensor may be disturbed.

The diameter of the bottom plate of a cylindrical oil tank reaches, for example, 100 m. Then, such a bottom plate is formed by stacking a huge number of plate materials on the ground surface without gaps and performing fillet welding from the side not facing the ground surface. Therefore, the total length of the welded portion between the plate materials is enormous, and the number of inspection points is also enormous. The inspection device of Patent Document 1 is not suitable for efficiently inspecting a huge number of inspection points.

In view of the above-mentioned problems, the present invention provides a welded portion inspection device capable of efficiently inspecting a huge number of inspection points while having less disturbance of the waveform indicating the vibration intensity measured by the sensor. The purpose is.

The first aspect of the present invention is a welded portion inspection device that inspects a welded portion in which a welded material on the back side and a welded material on the front side are welded in a stepped shape when viewed from the detection side.
A striking target member determination unit that determines one of the welded material on the back side and the welded material on the front side.
A vibrating body that applies an impact to the one welded material determined by the impact target member determination unit, and
The first vibration intensity of the shock wave propagated from the one welded material through the welded portion to the other welded material by the impact is measured, and the second shock wave propagated through the one welded material by the impact. Sensor unit that measures the vibration intensity of
It includes a calculation unit that inspects the inspection parameters of the welded portion by a calibration curve corresponding to the ratio of the first vibration intensity and the second vibration intensity.

In the welded portion inspection device of the first aspect, the impact target member determination unit may detect a step in the welded portion and determine the traveling direction of the welded portion inspection device.

In the welded portion inspection device of the first aspect, the sensor portion is
A first sensor that measures one of the first vibration intensity and the second vibration intensity, and
A second sensor that measures the other of the first vibration intensity and the second vibration intensity is provided.
The first sensor and the second sensor may be supported by the first holder and the second holder with the upper surface open.

In the welded portion inspection device of the first aspect, the material to be welded on the back side and the material to be welded on the front side are fillet welded.
The inspection parameter may be the throat thickness of the weld.

The welded portion inspection device of the first aspect may further include a vertical movement mechanism for moving the first holder and the second holder in the vertical direction.

The welded portion inspection device of the first aspect includes a traveling device capable of traveling on the material to be welded on the back side and the material to be welded on the front side.
A lateral movement mechanism provided in the traveling device to move the first holder and the second holder in a width direction orthogonal to the traveling direction of the traveling device.
The traveling device is provided with the lateral movement mechanism and a control device for controlling the traveling device.
The control device may include the calculation unit.

The welded portion inspection device of the first aspect includes a storage unit that stores target position information and a storage unit.
A position sensor for detecting the position of the traveling device is further provided.
The control device may move the traveling device to the target position based on the position of the traveling device detected by the position sensor and the target position information stored in the storage unit.

In the welded portion inspection device of the first aspect, the traveling device is
A wheel capable of traveling on the material to be welded on the back side and the material to be welded on the front side,
The housing supported by the wheels and
The battery that drives the wheels and
Independent suspension suspension, which can independently adjust the height of the wheels with respect to the housing.
The control device may control the independent suspension type suspension to maintain the horizontality of the housing with respect to the material to be welded on the back side and the material to be welded on the front side.

The welded portion inspection device of the first aspect further includes a step detection sensor that detects a step between the material to be welded on the back side and the material to be welded on the front side and identifies the position of the welded portion.
The control device controls the lateral movement mechanism, and the position of the welded portion specified by the step detection sensor is positioned between the vibrating body and the sensor portion for measuring the first vibration intensity. As described above, the first holder and the second holder may be moved in the width direction.

In the welded portion inspection device of the first aspect, the welded material on the back side and the welded material on the front side may form a part of the bottom plate of the oil tank.

In the welded portion inspection device of the first aspect, the traveling device may further include a headlight and an obstacle detection device.

According to the first and second aspects of the present invention, there is little disturbance of the waveform indicating the vibration intensity measured by the sensor, and a huge number of inspection points can be efficiently inspected. Equipment is provided.

It is a conceptual diagram which shows an example of the inspection part and the control part of the weld part inspection apparatus in Embodiment 1 which concerns on this invention. FIG. 5 is a conceptual diagram showing an example of the positional relationship between the first vibrating body and the sensor portion of the welded portion inspection device according to the first embodiment. FIG. 5 is a conceptual diagram showing an example of the positional relationship between the second vibrating body and the sensor portion of the welded portion inspection device according to the first embodiment. It is a conceptual diagram which shows an example of the internal structure of the control circuit in Embodiment 1. FIG. It is a flowchart which shows the method of inspecting the throat thickness of a welded part by the welded part inspection apparatus in Embodiment 1. FIG. It is a conceptual diagram which shows an example of the weld inspection apparatus in Embodiment 1. FIG. FIG. 5 is a conceptual diagram showing an example of an internal configuration of a control device mounted on the welded portion inspection device according to the first embodiment. It is a top view which shows an example of the bottom plate of the oil tank in Embodiment 1. FIG. FIG. 5 is a conceptual diagram showing an example in which an impact is applied to a material to be welded on the back side by the first vibrating body in the first embodiment to inspect the throat thickness of the welded portion. FIG. 5 is a conceptual diagram showing an example in which an impact is applied to a material to be welded on the back side by a second vibrating body in the first embodiment to inspect the throat thickness of the welded portion. It is a flowchart which shows the method of inspecting the throat thickness of the welded part of the oil tank by the welded part inspection apparatus in Embodiment 1. FIG. It is a conceptual diagram which shows an example of the vibrating body and the sensor part of the weld part inspection apparatus in Embodiment 2 which concerns on this invention. (A) is a conceptual diagram showing an example of rotating the stage of the welded portion inspection device according to the second embodiment. (B) is a conceptual diagram showing an example of inspecting the throat thickness of the welded portion by applying an impact to the material to be welded on the back side with the first vibrating body in the second embodiment.

Hereinafter, embodiments of the present invention will be described with reference to the drawings as appropriate. It goes without saying that the embodiments described below are merely examples of the present invention, and the embodiments of the present invention can be appropriately changed without changing the gist of the present invention.

<Embodiment 1>
(Inspection unit)
A specific example of the welded portion inspection device of the present invention will be described. As shown in FIG. 1, the welded portion inspection device 10 includes an inspection unit 20 that inspects the welded portion 15 of the welded plate material 12, and an inspection control unit 80 that controls the inspection unit 20.
The welded plate material 12 is a plate material welded by the welded portion 15 in a state where the end portion 13a of the first material to be welded 13 and the end portion 14a of the second material to be welded 14 are overlapped in a stepped shape. ..
The first material to be welded 13 is the “material to be welded on the back side” when viewed from the side where the welded portion 15 of the welded plate material 12 is detected. The second material to be welded 14 is a “material to be welded on the front side” when viewed from the detection side. Hereinafter, the first material to be welded 13 may be described as “the material to be welded 13 on the back side”, and the second material to be welded 14 may be described as “the material to be welded 14 on the front side”.

The inspection unit 20 includes a vibrating body 21 for giving an impact to the first material 13 to be welded, a sensor unit 24 for measuring the vibration intensity of the shock wave, a stage device 28 for supporting the sensor unit 24, and a stage device 28. It mainly includes an electric slider (vertical movement mechanism) 30 that moves in the vertical direction.

The stage device 28 includes two first leg portions 32, two second leg portions 33, and a stage 34 attached to the upper part of the first leg portion 32 and the second leg portion 33. The stage device 28 is placed on the welded plate material 12 welded by the welded portion 15.

The stage 34 is a table formed in a rectangular shape in a plan view. The two first leg portions 32 are extensiblely fixed to one of the four corners of the stage 34, 34a, via the first slider 32a. A first magnet member 32b is provided at the tip of the first leg portion 32. The tip of the first leg portion 32 is fixed to the first welded material 13 by the magnetic force of the first magnet member 32b.
The two second leg portions 33 are telescopicly fixed to the other corner of the four corners of the stage 34 via the second slider 33a. A second magnet member 33b is provided at the tip of the second leg portion 33. The tip of the second leg portion 33 is fixed to the second welded material 14 by the magnetic force of the second magnet member 33b.
The first leg portion 32 is configured to be expandable and contractible by the first slider 32a. The second leg 33 is configured to be expandable and contractible by the second slider 33a. The first leg portion 32 and the second leg portion 33 are configured to be movable in a direction orthogonal to the surface (table surface) of the stage 34. The stage 34 is supported by the first leg portion 32 and the second leg portion 33, and is adjusted so as to be parallel to the weld plate material 12. The stage device 28 may not be provided with the first leg portion 32 and the second leg portion 33, and the stage device 28 may be made to stand on its own only by the electric slider 30.

In the region of the stage 34 on the side where the first leg portion 32 is provided, the first opening 34c is penetrated in a direction orthogonal to the surface of the stage 34. The first guide 35 is attached to the first opening 34c so as to penetrate through the first opening 34c. The first shaft member 36 is movably supported by the first guide 35 in the vertical direction orthogonal to the surface of the stage 34. As the first guide 35, for example, a linear guide is used.

A second opening 34d penetrates the area of the stage 34 on the side where the second leg 33 is provided in a direction orthogonal to the surface of the stage 34. The second guide 38 is attached to the second opening 34d so as to penetrate through the second opening 34d. The second shaft member 39 is movably supported by the second guide 38 in the vertical direction orthogonal to the surface of the stage 34. As the second guide 38, for example, a linear guide is used.

A third opening 34e penetrates the region of the stage 34 on the side of the first guide 35 in a direction orthogonal to the surface of the stage 34. The third guide 42 is attached to the third opening 34e so as to penetrate through the third opening 34e. A third shaft member 43 is movably supported by the third guide 42 in the vertical direction orthogonal to the surface of the stage 34. As the third guide 42, for example, a linear guide is used.

In addition, in the region of the stage 34 on the side of the second guide 38, the fourth opening 34f is penetrated in a direction orthogonal to the surface of the stage 34. The fourth guide 44 is attached to the fourth opening 34f in a state of being penetrated through the fourth opening 34f. A fourth shaft member 46 is movably supported by the fourth guide 44 in the vertical direction orthogonal to the surface of the stage 34. As the fourth guide 44, for example, a linear guide is used.

As a result, the first shaft member 36, the second shaft member 39, the third shaft member 43, and the fourth shaft member 46 can be smoothly slid and moved in the vertical direction with respect to the stage 34. Alternatively, a slide bearing or the like may be used as the first guide 35, the second guide 38, the third guide 42, and the fourth shaft member 46. Alternatively, the configuration may be such that the first guide 35, the second guide 38, the third guide 42, and the fourth shaft member 46 are not provided. That is, the first opening 34c, the second opening 34d, and the third opening 34c, in which the first shaft member 36, the second shaft member 39, the third shaft member 43, and the fourth shaft member 46 are formed in the stage 34. It may be configured to slide on the inner side surface of the opening 34e and the fourth opening 34f.

A vibrating body 21 is attached to the first shaft member 36 and the fourth shaft member 46. The vibrating body 21 includes a first vibrating body 22 connected to the first shaft member 36 and a second vibrating body 23 connected to the fourth shaft member 46.
The first vibrating body 22 is connected to the first shaft member 36. The first shaft member 36 has an upper first upper shaft 36a extending on the same straight line and a lower first lower shaft 36b. The first upper shaft 36a is inserted through the first guide 35. A first flange 36c is formed at the upper end of the first upper shaft 36a. The first flange 36c prevents the first shaft member 36 from coming off the first guide 35 due to an impact from the first vibrating body 22 or the like.

The first upper shaft 36a and the first lower shaft 36b are connected by a first movable member 45. The first movable member 45 finely adjusts the angle of the first lower shaft 36b with respect to the first upper shaft 36a. As the first movable member 45, for example, a universal joint can be used. The first vibrating body 22 is connected to the lower end of the first lower shaft 36b. As the first vibrating body 22, for example, a solenoid can be used.
The first vibrating body magnet member 48 is arranged at the tip of the vibrating housing 47 of the first vibrating body 22. The first vibrating body magnet member 48 is attracted to the welded plate material 12 (welded material 13), and the vibrating housing 47 of the first vibrating body 22 is brought into close contact with the welded plate material 12. The vibrating housing 47 may be brought into direct contact with the welded plate material 12 without providing the vibrating body magnet member 48 at the tip of the vibrating housing 47.

The first vibrating body 22 is connected to the first shaft member 36 on the surface side of the stage 34 by the first movable member 45 so that the angle of joining can be freely changed. In the first shaft member 36, when the first leg portion 32 and the second leg portion 33 are fixed to the weld plate material 12, the first vibrating body 22 is the weld plate material 12 (particularly, the welded material 13 on the back side). Has a length of contact with. The first vibrating body 22 is a vibrating body that applies an impact to the material to be welded 13 (that is, the first material to be welded 13) on the back side.

The second vibrating body 23 is connected to the fourth shaft member 46. The fourth shaft member 46 has an upper fourth upper shaft 46a extending on the same straight line and a lower fourth lower shaft 46b. The fourth upper shaft 46a is inserted through the fourth guide 44. A fourth flange 46c is formed at the upper end of the fourth upper shaft 46a. The fourth flange 46c prevents the fourth shaft member 46 from coming off the fourth guide 44 due to an impact from the second vibrating body 23 or the like.

The fourth upper shaft 46a and the fourth lower shaft 46b are connected by a fourth movable member 49. The fourth movable member 49 finely adjusts the angle of the fourth lower shaft 46b with respect to the fourth upper shaft 46a. As the fourth movable member 49, for example, a universal joint can be used. The second vibrating body 23 is connected to the lower end of the fourth lower shaft 46b. As the second vibrating body 23, for example, a solenoid can be used.
A second vibrating body magnet member 56 is arranged at the tip of the vibrating housing 53 of the second vibrating body 23. The second vibrating body magnet member 56 is attracted to the welded plate material 12 (welded material 14), and the vibrating housing 53 of the second vibrating body 23 is brought into close contact with the welded plate material 12. The vibrating housing 53 may be brought into direct contact with the welded plate material 12 without providing the vibrating body magnet member 56 at the tip of the vibrating housing 53.

The second vibrating body 23 is connected to the fourth shaft member 46 on the surface side of the stage 34 by the fourth movable member 49 so that the angle of joining can be freely changed. In the fourth shaft member 46, when the first leg portion 32 and the second leg portion 33 are fixed to the weld plate material 12, the second vibrating body 23 is the weld plate material 12 (particularly, the welded material 13 on the back side). Has a length of contact with (the state shown in FIG. 3). The second vibrating body 23 is a vibrating body that applies an impact to the material to be welded 13 (that is, the first material to be welded 13) on the back side.

A sensor unit 24 is attached to the second shaft member 39 and the third shaft member 43. The sensor unit 24 includes a first sensor unit 25 attached to the second shaft member 39 and a second sensor unit 26 attached to the third shaft member 43.
The first sensor unit 25 includes a first sensor holder (first holder) 51 connected to the second shaft member 39 and a first vibration sensor (first sensor) 54 attached to the first sensor holder 51. I have. The second sensor unit 26 includes a second sensor holder (second holder) 52 connected to the third shaft member 43 and a second vibration sensor (second sensor) 55 attached to the second sensor holder 52. I have.

The second shaft member 39 has an upper second upper shaft 39a extending on the same straight line and a lower second lower shaft 39b. The second upper shaft 39a is inserted through the second guide 38. A second flange 39c is formed at the upper end of the second upper shaft 39a. The second flange 39c prevents the second shaft member 39 from coming off the second guide 38 due to an impact from the first vibrating body 22 or the second vibrating body 23 or the like.
The second upper shaft 39a and the second lower shaft 39b are connected by a second movable member 57. The second movable member 57 finely adjusts the angle of the second lower shaft 39b with respect to the second upper shaft 39a. As the second movable member 57, for example, a universal joint can be used. The first sensor holder 51 is connected to the lower end of the second lower shaft 39b.
The first holder magnet member 61 is attached to the lower end of the first sensor holder 51. The second shaft member 39 is the first of the first sensor holder 51 when the first leg portion 32 and the second leg portion 33 are fixed to the welded plate material 12 (specifically, the second welded material 14). The holder magnet member 61 has a length of contact with the welding plate material 12.

The first sensor holder 51 is formed, for example, in a cylindrical shape. The first sensor holder 51 includes a first top plate 62 connected to the lower end of the second lower shaft 39b, a first bottom plate 63 facing the first top plate 62, and a peripheral portion and a first top plate 62 of the first top plate 62. It is provided with a first side wall 64 that connects to the peripheral edge of the bottom plate 63.
The first bottom plate 63 is fixed by the first top plate 62 and the first side wall 64. In the space formed by the first top plate 62, the first bottom plate 63, and the first side wall 64, the first vibration sensor 54 is placed on the upper surface of the first bottom plate 63. That is, the first bottom plate 63 is provided on the bottom of the first vibration sensor 54. The first side wall 64 has a height at which the first top plate 62 does not come into contact with the upper surface of the first vibration sensor 54. The first sensor holder 51 supports the first vibration sensor 54 with the upper surface of the first vibration sensor 54 open.
Therefore, the pressing force of the first vibration sensor 54 can be managed to move up and down. As a result, the measurement accuracy of the first vibration sensor 54 can be ensured satisfactorily.

The first vibration sensor 54 has a state in which an impact is applied from the first vibrating body 22 to the material to be welded 13 (first material to be welded 13) on the back side, and the first material to be welded 13 to the second material to be welded 13 to the second. The first vibration intensity of the shock wave propagating through the welded portion 15 to the welded material 14 is measured. Further, the first vibration sensor 54 propagated to the first welded material 13 in a state where the impact was applied from the second vibrating body 23 to the welded material 13 (first welded material 13) on the back side. The second vibration intensity of the shock wave is measured (see FIG. 3).
The first vibration sensor 54 has a frequency band in which the impact from the first vibrating body 22 or the second vibrating body 23 can be measured, and has, for example, a measuring frequency of 10 Hz to 15 kHz. Further, the first vibration sensor 54 preferably has a measurement range of about 1000 mV.
The first vibration sensor 54 (first sensor holder 51) is connected to the second shaft member 39 on the surface side of the stage 34 by a second movable member 57 so that the angle of joining can be freely changed.

A first holder magnet member 61 is provided on the lower surface of the first bottom plate 63 of the first sensor holder 51. The first holder magnet member 61 is attracted to the weld plate material 12 (welded material 14), and the first sensor holder 51 is brought into close contact with the weld plate material 12. The first sensor holder 51 may be brought into direct contact with the welded plate material 12 without providing the first holder magnet member 61 on the lower surface of the first bottom plate 63.
The first sensor holder 51 is brought into close contact with the welding plate material 12 by the magnetic force of the first holder magnet member 61.
The first vibration sensor 54 and the first holder magnet member 61 are inserted from the lower surface side of the first holder magnet member 61 and penetrate the first holder magnet member 61 and the first bottom plate 63 by means of bolts (not shown) that pass through the first bottom plate 63. Is fixed to.
Further, a resin sheet or a metal such as aluminum is provided as a flexible first sheet member 68 on the lower surface of the first holder magnet member 61. In other words, the first seat member 68 is arranged at the tip of the first vibration sensor 54.
As a result, even when the surface of the welded plate member 12 (specifically, the second welded material 14) has irregularities, the contact area of the first sheet member 68 with respect to the second welded material 14 Can be secured. As a result, the measurement accuracy of the second vibration sensor 55 can be ensured satisfactorily.
Further, the distance between the centers of the first vibrating body 22 and the first vibrating sensor 54 may be longer than the leg length of the welded portion 15.

The third shaft member 43 has an upper third upper shaft 43a extending on the same straight line and a lower third lower shaft 43b. The third upper shaft 43a is inserted through the third guide 42. A third flange 43c is formed at the upper end of the third upper shaft 43a. The third flange 43c prevents the third shaft member 43 from coming off the third guide 42 due to an impact from the first vibrating body 22 or the second vibrating body 23 or the like.
The third upper shaft 43a and the third lower shaft 43b are connected by a third movable member 66.
The third movable member 66 finely adjusts the angle of the third lower shaft 43b with respect to the third upper shaft 43a. As the third movable member 66, for example, a universal joint can be used. A second sensor holder 52 is connected to the lower end of the third lower shaft 43b.
A second holder magnet member 67 is attached to the lower end of the second sensor holder 52. The third shaft member 43 is the second of the second sensor holder 52 when the first leg portion 32 and the second leg portion 33 are fixed to the welded plate material 12 (specifically, the first welded material 13). The holder magnet member 67 has a length of contact with the welded plate member 12.

Like the first sensor holder 51, the second sensor holder 52 is formed in a cylindrical shape, for example. The second sensor holder 52 includes a second top plate 71 connected to the lower end of the third lower shaft 43b, a second bottom plate 72 facing the second top plate 71, and a peripheral portion and a second top plate 71 of the second top plate 71. It is provided with a second side wall 73 that connects to the peripheral edge of the bottom plate 72.
The second bottom plate 72 is fixed by the second top plate 71 and the second side wall 73. The second vibration sensor 55 is placed on the upper surface of the second bottom plate 72 in the space formed by the second top plate 71, the second bottom plate 72, and the second side wall 73. That is, the second bottom plate 72 is provided on the bottom of the second vibration sensor 55. The second side wall 73 has a height at which the second top plate 71 does not come into contact with the upper surface of the second vibration sensor 55. That is, the second sensor holder 52 supports the second vibration sensor 55 with the upper surface of the second vibration sensor 55 open.
Therefore, the pressing force of the second vibration sensor 55 can be managed to move up and down. As a result, the measurement accuracy of the second vibration sensor 55 can be ensured satisfactorily.

The second vibration sensor 55 is a state in which an impact is applied from the first vibrating body 22 to the material to be welded 13 (first material to be welded 13) on the back side, and the shock wave propagated to the first material to be welded 13 The second vibration intensity is measured. Further, in the second vibration sensor 55, in a state where an impact is applied from the second vibrating body 23 to the material to be welded 13 (first material to be welded 13) on the back side, the first material to be welded 13 to the second material 13 to the second. The first vibration intensity of the shock wave propagating through the welded portion 15 to the material to be welded 14 is measured (see FIG. 3).
Like the first vibration sensor 54, the second vibration sensor 55 has a frequency band capable of measuring the impact from the first vibrating body 22 or the second vibrating body 23, and has a measurement frequency of, for example, 10 Hz to 15 kHz. Has. Further, the second vibration sensor 55 preferably has a measurement range of about 1000 mV.
The second vibration sensor 55 (second sensor holder 52) is connected to the third shaft member 43 on the surface side of the stage 34 by the third movable member 66 so that the angle of joining can be freely changed.

A second holder magnet member 67 is provided on the lower surface of the second bottom plate 72 of the second sensor holder 52. The second holder magnet member 67 is attracted to the weld plate material 12 (welded material 13), and the second sensor holder 52 is brought into close contact with the weld plate material 12. The second sensor holder 52 may be brought into direct contact with the welded plate material 12 without providing the second holder magnet member 67 on the lower surface of the second bottom plate 72.
The second vibration sensor 55 and the second holder magnet member 67 are inserted from the lower surface side of the second holder magnet member 67 and penetrate the second holder magnet member 67 and the second bottom plate 72 by a bolt (not shown). It is fixed to the bottom plate 72.
Further, a metal such as aluminum is provided on the lower surface of the second holder magnet member 67 as a resin sheet or a flexible second sheet member 69. In other words, the second seat member 69 is arranged at the tip of the second vibration sensor 55.
As a result, even when the surface of the welded plate member 12 (specifically, the first welded material 13) has irregularities, the contact area of the second sheet member 69 with respect to the first welded material 13 is formed. Can be secured. As a result, the measurement accuracy of the second vibration sensor 55 can be ensured satisfactorily.
Further, the distance between the centers of the second vibrating body 23 and the second vibrating sensor 55 may be longer than the leg length of the welded portion 15. Further, the distance between the centers of the first vibration sensor 54 and the second vibration sensor 55 may be longer than the leg length of the welded portion 15.

An electric slider 30 and a slider support shaft 75 are provided above the stage 34. The electric slider 30 is fixed at a position in the height direction of the welded plate member 12 by a fixing member (not shown). The electric slider 30 includes a slider shaft 30a that can be expanded and contracted in the vertical direction, and the slider shaft 30a and the slider support shaft 75 are connected by a slider movable member 76. The slider movable member 76 finely adjusts the angle of the slider support shaft 75 with respect to the slider shaft 30a. As the slider movable member 76, for example, a universal joint can be used. The lower end of the slider support shaft 75 is connected to the upper surface of the stage 34.
That is, the slider support shaft 75 movably supports the stage 34 in the vertical direction with respect to the first material 13 to be welded and the second material 14 to be welded. The slider shaft 30a is expanded and contracted by the electric slider 30 to move the stage 34 in the vertical direction, whereby the first sensor holder 51 and the second sensor holder 52 are moved in the vertical direction.

Here, the positional relationship between the first vibration sensor 54, the second vibration sensor 55, the first vibrating body 22, and the second vibrating body 23 will be described with reference to FIGS. 2 and 3.
As shown in FIG. 2, the first vibrating body 22 and the second vibrating sensor 55 are arranged so as to be mounted on the first material to be welded (material to be welded on the back side) 13. The second vibrating body 23 and the first vibrating sensor 54 are arranged so as to be mounted on the second material to be welded (material to be welded on the front side) 14.
It is preferable that the straight line L1 connecting the first vibrating body 22 and the first vibrating sensor 54 and the straight line L2 connecting the first vibrating body 22 and the second vibrating sensor 55 extend so as to intersect with each other. Further, it is preferable that the distance from the first vibrating body 22 to the first vibrating sensor 54 and the distance from the first vibrating body 22 to the second vibrating sensor 55 are set to be the same.

In this state, the first vibration sensor 54 starts from the first material to be welded 13 in a state where an impact is applied to the material to be welded 13 (first material to be welded 13) on the back side from the first vibrating body 22. The first vibration intensity of the shock wave propagating through the welded portion 15 to the second material to be welded 14 is measured.
Further, the second vibration sensor 55 propagated to the first welded material 13 in a state where the impact was applied from the first vibrating body 22 to the welded material 13 (first welded material 13) on the back side. The second vibration intensity of the shock wave is measured.

As shown in FIG. 3, the first vibrating body 22 and the second vibrating sensor 55 are arranged so as to be mounted on the second material to be welded (material to be welded on the front side) 14. The second vibrating body 23 and the first vibrating sensor 54 are arranged so as to be mounted on the first material to be welded 13.
It is preferable that the straight line L3 connecting the second vibrating body 23 and the second vibrating sensor 55 and the straight line L4 connecting the second vibrating body 23 and the first vibrating sensor 54 extend so as to intersect with each other. Further, it is preferable that the distance from the second vibrating body 23 to the second vibrating sensor 55 and the distance from the second vibrating body 23 to the first vibrating sensor 54 are set to be the same.

In this state, the second vibration sensor 55 starts from the first material to be welded 13 in a state where an impact is applied to the material to be welded 13 (first material to be welded 13) on the back side from the second vibrating body 23. The first vibration intensity of the shock wave propagating through the welded portion 15 to the second material to be welded 14 is measured.
Further, the first vibration sensor 54 propagated to the first welded material 13 in a state where the impact was applied from the second vibrating body 23 to the welded material 13 (first welded material 13) on the back side. The second vibration intensity of the shock wave is measured.

Returning to FIG. 1, the first vibrating body 22, the first magnet member 32b of the first leg portion 32, and the second holder magnet member 67 of the second sensor holder 52 come into contact with the first material to be welded 13. Further, the second vibrating body 23, the second magnet member 33b of the second leg portion 33, and the first holder magnet member 61 of the first sensor holder 51 come into contact with the second welded material 14.
In this state, the electric slider 30 contracts the slider shaft 30a, so that the stage 34 slides upward, and the first magnet member 32b of the first leg portion 32 and the second magnet member 33b of the second leg portion 33 Separates from the weld plate material 12. The electric slider 30 further contracts the slider shaft 30a and slides the stage 34 further upward, so that the first flange 36c of the first shaft member 36 comes into contact with the upper end of the first guide 35. Further, the second flange 39c of the second shaft member 39 comes into contact with the upper end of the second guide 38. Further, the third flange 43c of the third shaft member 43 comes into contact with the upper end of the third guide 42. In addition, the fourth flange 46c of the fourth shaft member 46 comes into contact with the upper end of the fourth guide 44.

From this state, the electric slider 30 further contracts the slider shaft 30a and slides the stage 34 further upward. As a result, the first vibrating body 22 is separated from the first material to be welded 13. Further, the first holder magnet member 61 of the first sensor holder 51 is separated from the second material 14 to be welded. Further, the second holder magnet member 67 of the second sensor holder 52 is separated from the first material to be welded 13. In addition, the second vibrating body 23 separates from the second material to be welded 14.

When the first vibrating body 22, the first magnet member 32b, the second magnet member 33b, the first holder magnet member 61, the second holder magnet member 67, and the second vibrating body 23 are separated from the welded plate material 12, the electric slider 30 extends the slider shaft 30a. As a result, the stage 34 slides downward, and the first vibrating body 22, the first holder magnet member 61 and the second holder magnet member 67, and the second vibrating body 23 are moved by the first magnet member 32b and the second magnet member. The weld plate material 12 is contacted before 33b.
The first shaft member 36, the second shaft member 39, the third shaft member 43, and the fourth shaft member 46 are moved up and down on the first guide 35, the second guide 38, the third guide 42, and the fourth guide 44. It is inserted so that it can slide in the direction. As a result, the stage 34 can be slid further downward with the first vibrating body 22, the first holder magnet member 61, the second holder magnet member 67, and the second vibrating body 23 in contact with the welded plate material 12. ..
As a result, it is possible to reduce the disturbance of the waveforms indicating the first and second vibration intensities measured by the first vibration sensor 54 and the second vibration sensor 55, and to efficiently inspect a huge number of inspection points. it can.

In the first material to be welded 13 and the second material to be welded 14, the weld plate material 12 is formed by fillet welding the end portions 13a and the end portions 14a at the welded portion 15. The weld plate material 12 is used, for example, for the bottom plate of an oil tank.
The first material to be welded 13 and the second material to be welded 14 are carbon steel plates, but the present invention is not limited to this, and other weldable metal materials may be used. The size of the first material to be welded 13 and the second material to be welded 14 is, for example, 1.2 m in length × 1 m in width × 9 mm in thickness, but the size and thickness are not limited to this. The welds may be of other sizes.

When inspecting the throat thickness of the welded portion 15 of the first material to be welded 13 and the second material to be welded 14, welding is performed on the first material to be welded 13 and the second material to be welded 14 to be inspected. The inspection unit 20 of the unit inspection device 10 is arranged. First, the first vibrating body 22 and the second vibrating sensor 55 are arranged on the surface of the first material to be welded 13, and the second vibrating body 23 and the first vibrating sensor 54 are arranged on the surface of the second material to be welded 14. To do.
Next, the first leg portion 32 is placed on the surface of the first material to be welded 13 in accordance with the positions of the first vibrating body 22, the first vibrating sensor 54, the second vibrating sensor 55, and the second vibrating body 23. , The second leg 33 is placed on the surface of the second material 14 to be welded. The second material to be welded 14 is arranged at a position higher than the first material to be welded 13 by being overlapped with the first material to be welded 13. By adjusting the height of the second leg 33 with the second slider 33a, the stage 34 is arranged as horizontally as possible.

The first vibrating body 22, the first vibrating sensor 54, the second vibrating sensor 55, and the second vibrating body 23.
Is arranged in a direction orthogonal to the welding line of the welded portion 15. It is more preferable to arrange the first vibration sensor 54 and the second vibration sensor 55 at positions substantially line-symmetrical with respect to the welding line of the welded portion 15. Further, it is preferable to arrange the second vibrating body 23 in the vicinity of the first vibrating sensor 54. Further, it is preferable to arrange the first vibrating body 22 in the vicinity of the second vibrating sensor 55.

In the first embodiment, the first upper shaft 36a and the first lower shaft 36b are connected by a first movable member 45. Therefore, even if the stage 34 through which the first upper shaft 36a is inserted deviates from the horizontal state, the angle of the first lower shaft 36b with respect to the first upper shaft 36a is finely adjusted to allow the first material to be welded. The first vibrating body 22 can be installed so that the contact area with 13 becomes wide. In other words, the first vibrating body 22 can be installed horizontally. Therefore, unevenness (error) of the applied impact value can be suppressed.

Further, the second upper shaft 39a and the second lower shaft 39b are connected by a second movable member 57. Therefore, even if the stage 34 through which the second upper shaft 39a is inserted deviates from the horizontal state, the angle of the second lower shaft 39b with respect to the second upper shaft 39a is finely adjusted so that the second material to be welded 14 The first vibration sensor 54 can be installed so that the contact area with is widened. Therefore, the detection error of the detected vibration intensity can be reduced.

Further, the third upper shaft 43a and the third lower shaft 43b are connected by a third movable member 66. Therefore, even if the stage 34 through which the third upper shaft 43a is inserted deviates from the horizontal state, the angle of the third lower shaft 43b with respect to the third upper shaft 43a is finely adjusted to allow the first material to be welded 13 to be welded. The second vibration sensor 55 can be installed so that the contact area with is widened. Therefore, the detection error of the detected vibration intensity can be reduced.

In addition, the fourth upper shaft 46a and the fourth lower shaft 46b are connected by a fourth movable member 49. Therefore, even if the stage 34 through which the fourth upper shaft 46a is inserted deviates from the horizontal state, the angle of the fourth lower shaft 46b with respect to the fourth upper shaft 46a is finely adjusted to allow the second material to be welded. The second vibrating body 23 can be installed so that the contact area with 14 becomes wide. In other words, the second vibrating body 23 can be installed horizontally. Therefore, unevenness (error) of the applied impact value can be suppressed.

The power cable for driving the first vibrating body 22, the second vibrating body 23, and the electric slider 30 and the measuring cable for the first vibrating sensor 54 and the second vibrating sensor 55 are not shown, for example, provided on the stage 34. The connector may be connected to the inspection control unit 80. As a result, if the cable is disconnected, the inspection unit 20 and the inspection control unit 80 can be carried separately.

In the examples of FIGS. 1 and 2, the first vibrating body 22 and the second vibration sensor 55 are arranged on the first material to be welded 13, and the second vibrating body 23 and the first vibrating body 14 are arranged on the second material to be welded 14. The vibration sensor 54 is arranged, but the present invention is not limited to this. As another example, as described with reference to FIG. 3, the first vibrating body 22 and the second vibration sensor 55 are arranged on the second material to be welded 14, and the second vibrating body 23 and the second vibrating body 23 and the second vibrating body 13 are arranged on the first material to be welded 13. The first vibration sensor 54 may be arranged. Further, the first and second legs 32 and 33 may be removed.

As shown in FIG. 1, the inspection control unit 80 mainly includes a control computer 81, a memory 82, an interface (I / F) circuit 83, a control circuit 84, and a storage device 85 such as a magnetic disk. The control computer 81, the memory 82, the I / F circuit 83, the control circuit 84, and the storage device (an example of the storage unit) 85 are connected to each other via a bus (not shown).

A measurement unit 87 and a calculation unit 88 are arranged in the control computer 81. The measurement unit 87 and the calculation unit 88 may be composed of software or hardware such as an electronic circuit. Alternatively, it may be a combination of these. The input data required for the control computer 81 or the result of calculation is stored in the memory 82 each time. When at least one of the measurement unit 87 and the calculation unit 88 is composed of software, a processing device such as a CPU or GPU is arranged.

As shown in FIG. 4, the control circuit 84 includes a computer unit 91, a first DC component removing unit 92, a first amplifier 93, a second DC component removing unit 94, a second amplifier 95, and a first vibrating body drive circuit 96. , And a second vibrating body drive circuit 97.
The computer unit 91 includes an acquisition unit 101, a T0 calculation unit 102, a V0 calculation unit 103, a memory 104, and a control unit 105. The acquisition unit 101, the T0 calculation unit 102, the V0 calculation unit 103, and the control unit 105 may be composed of software or hardware such as an electronic circuit. Alternatively, it may be a combination of these. The input data required for the computer unit 91 or the result of calculation is stored in the memory 104 each time. Further, when at least one of the acquisition unit 101, the T0 calculation unit 102, the V0 calculation unit 103, and the control unit 105 is composed of software, a processing device such as a CPU or GPU is arranged.

The welded portion inspection device 10 may have not only the specific configurations shown in FIGS. 1 to 4 but also other configurations that are usually required.

(Welded part inspection method)
Next, a welded portion inspection method for inspecting the throat thickness of the welded portion 15 of the first welded material 13 and the second welded material 14 by the welded portion inspection device 10 will be described.
First, the first welded portion inspection method for inspecting the throat thickness of the welded portion 15 by applying an impact with the first vibrating body 22 of the welded portion inspection device 10 is shown in the flowcharts of FIGS. 1, 2, 4, and 5. It will be explained based on.
As shown in FIGS. 1, 2, 4, and 5, the welded portion inspection device 10 includes a command transmission step (S1), an impact application step (S2), a vibration strength measurement step (S3), and a DC component removal step. (S4) is executed. Further, the welded portion inspection device 10 executes a shock wave profile acquisition step (S5), a peak time calculation step (S6), a peak voltage calculation step (S7), and a vibration intensity ratio calculation step (S8).

In the command transmission step (S1), the measurement unit 87 transmits a measurement start command to the control circuit 84. In the control circuit 84, the computer unit 91 inputs a measurement start command. Then, the control unit 105 in the computer unit 91 outputs a signal instructing the impact application to the first vibrating body drive circuit 96.

In the impact application step (S2), the first vibrating body drive circuit 96 drives the first vibrating body 22 to apply an impact to the first welded material 13. In the first vibrating body drive circuit 96, the measurement start time 0 to T1 is set to 0V, and a voltage for driving the first vibrating body 22 is applied to the first vibrating body 22 during the subsequent times T1 to T2.
The impact may be applied once. Assuming that the speed of sound of the iron plate is 5950 m / s, for example, the wavelength of 15 kHz is about 40 cm, which is relative to the thickness dimension of the first welded material 13 and the second welded material 14 and the outer diameter dimension of the cross section of the welded portion 15. Will be long enough. As a result, the wave propagating in the entire weld can be detected. Therefore, it is possible to sufficiently detect a wave that has propagated through the entire welded portion with a single shock wave.

However, the present invention is not limited to this, and a plurality of impacts may be applied. When applying a plurality of impacts, it is preferable to apply the impact after the previous shock wave is attenuated. Further, the impact load by the first vibrating body 22 is preferably such that a vibration intensity of about several hundred mV can be obtained by the first vibration sensor 54 and the second vibration sensor 55. However, the present invention is not limited to this, and may be appropriately set according to the performance of the first vibration sensor 54 and the second vibration sensor 55.

In the vibration intensity measuring step (S3), the first vibration sensor 54 propagates from the first material to be welded 13 to the second material to be welded 14 via the welded portion 15 due to the impact on the first material to be welded 13. The first vibration intensity of the shock wave is detected (measured). The first vibration sensor 54 detects the first vibration intensity of the shock wave between the above-mentioned times T1 and T2. This makes it possible to prevent measurement errors due to time dilation. The detection result of the first vibration sensor 54 is output to the first amplifier 93 and amplified.
At the same time, the second vibration sensor 55 detects (measures) the second vibration intensity of the shock wave propagating to the first welded material 13 due to the impact on the first welded material 13. The second vibration sensor 55 detects the second vibration intensity of the shock wave between the times T1 and T2 described above. This makes it possible to prevent measurement errors due to time dilation. The detection result of the second vibration sensor 55 is output to the second amplifier 95 and amplified.

In the DC component removing step (S4), the first DC component removing unit 92 removes the DC component from the detection result of the first vibration sensor 54 output from the first amplifier 93.
Further, the second DC component removing unit 94 removes the DC component from the detection result of the second vibration sensor 55 output from the second amplifier 95.

In the shock wave profile acquisition step (S5), the acquisition unit 101 acquires the shock wave profile of the first vibration sensor 54 from the first DC component removing unit 92.
Further, the acquisition unit 101 acquires the shock wave profile of the second vibration sensor 55 from the second DC component removing unit 94.

In the peak time calculation step (S6), the T0 calculation unit 102 calculates the time T0 from the measurement start (T1) time to the measured vibration intensity peak (maximum value) A time. Alternatively, the time from a certain reference time may be calculated.
Here, from the time series data of the vibration intensity (voltage) of the detection result of the first vibration sensor 54 obtained in the sampling cycle, from the time of the maximum voltage of the first vibration sensor 54 (or the time of measurement start (T1)). Time) is calculated.
Further, from the time series data of the vibration intensity (voltage) of the detection result of the second vibration sensor 55 obtained in the sampling cycle, the time from the time of the maximum voltage of the second vibration sensor 55 (or the time from the measurement start (T1) time). ) Is calculated.

In the peak voltage calculation step (S7), the V0 calculation unit 103 calculates the peak voltage V0 (maximum voltage) of the measured vibration intensity corresponding to the time T0 in the detection result of the first vibration sensor 54. The calculated peak voltage V0 is output to the control computer 81 as the first peak voltage V0 of the first vibration sensor 54.
Further, the V0 calculation unit 103 calculates the peak voltage V0 (maximum voltage) of the measured vibration intensity corresponding to the time T0 in the detection result of the second vibration sensor 55. The calculated peak voltage V0 is output to the control computer 81 as the second peak voltage V0 of the second vibration sensor 55.

In the vibration intensity ratio calculation step (S8), the calculation unit 88 calculates the [vibration intensity ratio] of [the second peak voltage V0 of the second vibration sensor 55] and [the first peak voltage V0 of the first vibration sensor 54]. Calculate. That is,
[Vibration intensity ratio] = [1st peak voltage V0] / [2nd peak voltage V0]
Is calculated.
Here, for example, prior to the inspection, an experiment is performed in advance using a plurality of test pieces having different throat thicknesses of the welded portion, and as the correlation data, the correlation data between the [sample vibration intensity ratio] and the throat thickness of the welded portion (for example, approximation). The equation or the coefficient of the approximate equation) is stored in the storage device 85 as a calibration curve.
[Vibration intensity ratio] is substituted into the correlation data stored in the storage device 85, and the throat thickness of the welded portion 15 is calculated (inspected). The throat thickness of the welded portion 15 is an example of inspection parameters. The calculation result is output to a display device (for example, a monitor) (not shown) via the I / F circuit 83. The availability (safety) of the welded portion 15 is determined using the output throat thickness.

Next, the flowcharts of FIGS. 1, 3, 4, and 5 show a second welding portion inspection method for inspecting the throat thickness of the welded portion 15 by applying an impact with the second vibrating body 23 of the welded portion inspection device 10. The explanation will be based on.
As shown in FIGS. 1 and 3 to 5, in the command transmission step (S1), the measurement unit 87 transmits a measurement start command to the control circuit 84. In the control circuit 84, the computer unit 91 inputs a measurement start command. Then, the control unit 105 in the computer unit 91 outputs a signal instructing the impact application to the second vibrating body drive circuit 97.

In the impact application step (S2), the second vibrating body drive circuit 97 drives the second vibrating body 23 to apply an impact to the first material to be welded 13. In the second vibrating body drive circuit 97, the measurement start time 0 to T1 is set to 0V, and a voltage for driving the second vibrating body 23 is applied to the second vibrating body 23 during the subsequent times T1 to T2.
The impact may be applied once. Assuming that the speed of sound of the iron plate is 5950 m / s, for example, the wavelength of 15 kHz is about 40 cm, which is relative to the thickness dimension of the first welded material 13 and the second welded material 14 and the outer diameter dimension of the cross section of the welded portion 15. Will be long enough. As a result, the wave propagating in the entire weld can be detected. Therefore, it is possible to sufficiently detect a wave that has propagated through the entire welded portion with a single shock wave.

However, the present invention is not limited to this, and a plurality of impacts may be applied. When applying a plurality of impacts, it is preferable to apply the impact after the previous shock wave is attenuated. Further, the impact load by the second vibrating body 23 is preferably such that a vibration intensity of about several hundred mV can be obtained by the first vibration sensor 54 and the second vibration sensor 55. However, the present invention is not limited to this, and may be appropriately set according to the performance of the first vibration sensor 54 and the second vibration sensor 55.

In the vibration intensity measuring step (S3), the second vibration sensor 55 propagates from the first material to be welded 13 to the second material to be welded 14 via the welded portion 15 due to the impact on the first material to be welded 13. The first vibration intensity of the shock wave is detected (measured). The second vibration sensor 55 detects the first vibration intensity of the shock wave between the times T1 and T2 described above. This makes it possible to prevent measurement errors due to time dilation. The detection result of the second vibration sensor 55 is output to the first amplifier 93 and amplified.
At the same time, the first vibration sensor 54 detects (measures) the second vibration intensity of the shock wave propagating to the first welded material 13 due to the impact on the first welded material 13. The first vibration sensor 54 detects the second vibration intensity of the shock wave between the times T1 and T2 described above. This makes it possible to prevent measurement errors due to time dilation. The detection result of the first vibration sensor 54 is output to the second amplifier 95 and amplified.

In the DC component removing step (S4), the first DC component removing unit 92 removes the DC component from the detection result of the second vibration sensor 55 output from the first amplifier 93.
Further, the second DC component removing unit 94 removes the DC component from the detection result of the first vibration sensor 54 output from the second amplifier 95.

In the shock wave profile acquisition step (S5), the acquisition unit 101 acquires the shock wave profile of the second vibration sensor 55 from the first DC component removing unit 92.
Further, the acquisition unit 101 acquires the shock wave profile of the first vibration sensor 54 from the second DC component removing unit 94.

In the peak time calculation step (S6), the T0 calculation unit 102 calculates the time T0 from the measurement start (T1) time to the measured vibration intensity peak (maximum value) A time. Alternatively, the time from a certain reference time may be calculated.
Here, from the time series data of the vibration intensity (voltage) of the detection result of the second vibration sensor 55 obtained in the sampling cycle, from the time of the maximum voltage of the second vibration sensor 55 (or the time of measurement start (T1)). Time) is calculated.
Further, from the time series data of the vibration intensity (voltage) of the detection result of the first vibration sensor 54 obtained in the sampling cycle, the time from the time of the maximum voltage of the first vibration sensor 54 (or the time from the measurement start (T1) time). ) Is calculated.

In the peak voltage calculation step (S7), the V0 calculation unit 103 calculates the peak voltage V0 (maximum voltage) of the measured vibration intensity corresponding to the time T0 in the detection result of the second vibration sensor 55. The calculated peak voltage V0 is output to the control computer 81 as the first peak voltage V0 of the second vibration sensor 55.
Further, the V0 calculation unit 103 calculates the peak voltage V0 (maximum voltage) of the measured vibration intensity corresponding to the time T0 in the detection result of the first vibration sensor 54. The calculated peak voltage V0 is output to the control computer 81 as the second peak voltage V0 of the first vibration sensor 54.

In the vibration intensity ratio calculation step (S8), the calculation unit 88 calculates the [vibration intensity ratio] of [the second peak voltage V0 of the first vibration sensor 54] and [the first peak voltage V0 of the second vibration sensor 55]. Calculate. That is,
[Vibration intensity ratio] = [1st peak voltage V0] / [2nd peak voltage V0]
Is calculated.
Here, for example, prior to the inspection, an experiment is performed in advance using a plurality of test pieces having different throat thicknesses of the welded portion, and as the correlation data, the correlation data between the [sample vibration intensity ratio] and the throat thickness of the welded portion (for example, approximation). The equation or the coefficient of the approximate equation) is stored in the storage device 85 as a calibration curve.
[Vibration intensity ratio] is substituted into the correlation data stored in the storage device 85 to calculate the throat thickness (an example of inspection parameters) of the welded portion 15. The calculation result is output to a display device (for example, a monitor) (not shown) via the I / F circuit 83. The availability (safety) of the welded portion 15 is determined using the output throat thickness.

As described above, according to the welded portion inspection device 10, the first welded portion inspection method for applying an impact to the first vibrating body 22 and the second welding portion inspecting device 10 for applying an impact to the second vibrating body 23 of the welded portion inspection device 10. The throat thickness of the welded portion 15 can be inspected in the two methods of the welded portion inspection method.

As described above, according to the welded portion inspection device 10 of the first embodiment, it is possible to reduce the disturbance of the waveform indicating the first and second vibration intensities measured by the first vibration sensor 54 and the second vibration sensor 55. Moreover, a huge number of inspection points can be inspected efficiently.

(Traveling device)
As shown in FIGS. 6 and 7, the welded portion inspection device 10 of the first embodiment further includes a traveling device 200. The weld inspection device 10 is used, for example, to automatically inspect a large number of welds 15 on the bottom plate 301 of the oil tank 300 in a cylindrical oil tank 300 (see FIG. 8). That is, the welded portion inspection device 10 of the first embodiment is an apparatus in which the traveling device 200 moves in the oil tank 300 to a predetermined area to be inspected of the welded portion 15 of the bottom plate 301, and the inspection portion 20 inspects the welded portion 15. Is.

As shown in FIG. 8, the bottom plate 301 of the oil tank 300 is welded at the welded portion 15 in a state where a plurality of materials 303 to 308 to be welded are stacked in a stepped shape from the center of the bottom plate to the outside. The bottom plate 301 is partially composed of, for example, the welded plate material 12 shown in FIG. The plurality of welded materials 303 to 308 are partially composed of, for example, the first welded material 13 and the second welded material 14 shown in FIG. When explaining the configuration of the welded portion inspection device 10 in FIGS. 6 and 7, the bottom plate 301 of the oil tank 300 is used as a welded plate material 12, a first material to be welded 13, and a second material to be welded for convenience. It may be described as 14.

Returning to FIGS. 6 and 7, the traveling device 200 includes a traveling housing (housing) 212 having a rectangular shape in a plan view, four wheels 214 for supporting the traveling housing 212 from below, and a battery 216. ing.
The four wheels 214 are composed of a first wheel 214a on one side and a second wheel 214b on the other side.
The traveling device 200 is configured to be able to travel (drive) the bottom plate 301 of the oil tank 300 in the length direction of the traveling housing 212 by the battery 216, for example, at a speed of about 4 to 5 km / h. The bottom plate of the oil tank (for example, the weld plate material 12) is formed by, for example, being welded at the welded portion 15 in a state where the first material to be welded 13 and the second material to be welded 14 are overlapped. .. Therefore, the surface of the second material to be welded 14 stacked on the upper side is arranged at a position higher than the surface of the first material 13 to be welded stacked on the lower side. In other words, the first material to be welded 13 is arranged at a position deeper than the second material to be welded 14 when viewed from the side where the welded portion 15 is detected. The second material to be welded 14 is arranged on the front side of the first material to be welded 13 when viewed from the side where the welded portion 15 is detected.

In a state where the traveling device 200 straddles the welded portion 15 of the first material to be welded 13 and the second material to be welded 14, the first wheel 214a on one side is arranged on the surface of the first material to be welded 13, and the first wheel 214a is arranged. The second wheel 214b on the other side is arranged on the surface of the material 14 to be welded. Therefore, it is conceivable that the heights of the first wheel 214a and the second wheel 214b are different, and the traveling housing 212 is tilted. Therefore, the four wheels 214 (that is, the first wheel 214a and the second wheel 214b) are provided with an independent suspension (not shown) whose height can be adjusted independently of the traveling housing 212. The independent suspension type suspension is controlled by the control device 230 (described later), so that the horizontality of the traveling housing 212 with respect to the surfaces of the first material to be welded 13 and the second material to be welded 14 is maintained. That is, the traveling device 200 includes a mechanism for maintaining the horizontality of the stage 34.

Further, the welded portion inspection device 10 of the first embodiment has a lateral movement mechanism 218, a position detection sensor (position sensor) 219, a step detection sensor 221 and an obstacle detection sensor (obstacle detection device) 222 horizontally. It includes a sensor 224, a headlight 226, a control device 230, and the like.
The lateral movement mechanism 218, the position detection sensor 219, the step detection sensor 221, the obstacle detection sensor 222, the horizontal sensor 224, the headlight 226, and the control device 230 are mounted on the traveling device 200. The weld inspection device 10 has a size capable of passing through, for example, a manhole having a diameter of about 500 mm provided in an oil tank.

The lateral movement mechanism 218 is a mechanism for moving the inspection unit 20 along the width direction of the traveling housing 212, that is, the lateral direction (width direction) orthogonal to the traveling direction. The lateral movement mechanism 218 is connected to, for example, a shaft 231 extending in the width direction of the traveling housing 212 and an electric slider 30 of the inspection unit 20, and is a slider member configured to be movable along the shaft 231. 232 and a drive mechanism (not shown) for moving the slider member 232 along the shaft 231 are provided. Both ends of the shaft 231 are supported at the same height on both side walls of the traveling housing 212.
However, the configuration of the lateral movement mechanism 218 is not limited to this, and may be, for example, an electric slider provided on one side wall of the traveling housing 212 and configured to expand and contract in the width direction of the traveling housing 212. .. In this case, the electric slider of the inspection unit 20 may be connected to the tip of the slider shaft of the electric slider.

The position detection sensor 219 detects the position of the traveling device 200 on the circular bottom plate 301 (two-dimensional) of the oil tank 300 (see FIG. 8). The step detection sensor 221 detects the step of the welded portion 15 of the first material to be welded 13 and the second material to be welded 14, and identifies the position of the welded portion 15. Further, the step detection sensor 221 is located on the back side of the first material to be welded 13 and the second material to be welded 14 which are stacked in a stepped shape when viewed from the side where the welded portion 15 is detected. Is detected.
The step detection sensor 221 is, for example, a laser distance that scans a laser beam in the width direction of the traveling housing 212 to measure the distance to the first material to be welded 13 and the distance to the second material to be welded 14. A meter can be used.

The material to be welded on the back side detected by the step detection sensor 221 is determined by the impact target member determination unit 220. The impact target member determination unit 220 is included in the control unit 105 (see FIG. 4) in the computer unit 91. From the control unit 105 to the first vibrating body drive circuit 96 or the second vibrating body driving circuit 97 (see FIG. 4) so as to apply an impact to the material to be welded on the back side determined by the impact target member determination unit 220. Outputs a signal instructing the application of impact. As a result, the throat thickness of the welded portion 15 can be inspected in the first welded portion inspection method in which an impact is applied to the material to be welded on the back side by the first vibrating body 22. Further, the throat thickness of the welded portion 15 can be inspected in the second welded portion inspection method in which an impact is applied to the material to be welded on the back side by the second vibrating body 23.

In this way, the impact target member determination unit 220 determines the back side welded material (one of the welded materials) among the back side welded material and the front side welded material. In the embodiment, an example in which the impact target member determination unit 220 determines the material to be welded on the back side will be described, but the present invention is not limited to this. As another example, the impact target member determination unit 220 may determine the material to be welded on the front side (the other material to be welded). In this case, the first vibrating body 22 or the second vibrating body 23 applies an impact to the material to be welded on the front side to inspect the throat thickness of the welded portion 15.
Further, the impact target member determination unit 220 detects a step between the welded portions 15 of the first welded material 13 and the second welded material 14 and determines the traveling direction of the welded portion inspection device 10. Information for determining the traveling direction of the welded portion inspection device 10 is input to the traveling device control unit 260.

The obstacle detection sensor 222 detects a structure or a person existing in the traveling direction of the traveling device 200. The bottom plate (welded plate material 12) of an oil tank is usually provided with a large number of columns for supporting the roof of the oil tank. When inspecting the bottom plate with the welded portion inspection device 10, it is conceivable that a worker is working on the bottom plate. An obstacle detection sensor 222 is mounted in order to avoid such columns and workers existing in the traveling direction of the traveling device 200.

The horizontal sensor 224 is a sensor for detecting the levelness of the traveling device 200 (shaft 231). Further, since the inside of the oil tank is usually dark, the traveling housing 212 of the traveling device 200 is provided with a headlight 226 that illuminates the traveling direction.
The control device 230 is provided in the traveling device 200 and is a device for controlling the inspection unit 20, the lateral movement mechanism 218, and the traveling device 200. The control device 230 includes a control circuit 84, a lateral movement mechanism control unit 250, a traveling device control unit 260, and a storage device 85. The control circuit 84, the lateral movement mechanism control unit 250, and the traveling device control unit 260 may be composed of software or hardware such as an electronic circuit. Alternatively, it may be a combination of these.

As described above, the control circuit 84 controls the inspection unit 20 (see FIG. 1), specifically, the vibrating body 21, the sensor unit 24, and the electric slider 30, respectively.

The lateral movement mechanism control unit 250 controls the lateral movement mechanism 218 based on the input from the step detection sensor 221. The traveling device control unit 260 receives information on the target position on the bottom plate 301 stored in advance in the storage device 85, the position on the bottom plate 301 of the traveling device 200 detected by the position detection sensor 219, and the obstacle detection sensor 222. The traveling device 200 is controlled based on the input information. Further, the traveling device control unit 260 controls the traveling device 200 based on the information of the traveling direction of the welded portion inspection device 10 determined by the impact target member determination unit 220. As a result, the traveling device 200 is moved to the target position.
Further, the traveling device control unit 260 controls the independent suspension of the four wheels 214 so that the shaft 231 attached to the traveling device 200 is horizontal based on the input from the horizontal sensor 224.
In the storage device 85, in addition to the information regarding the target position (inspection target position) on the bottom plate 301, the inspection result (parameter calculation result) for each inspection target position is stored. The target positions on the bottom plate 301 reach about 50,000 when the bottom plates having a diameter of 100 m are inspected at intervals of about 10 cm.

Further, the control device 230 includes a calculation unit 88 (see FIG. 1). The calculation unit 88 may use information stored in advance in the storage device 85 when the lateral movement mechanism control unit 250 controls the lateral movement mechanism 218 or when the traveling device control unit 260 controls the traveling device 200. Performs necessary calculations based on the input information.

(Bottom plate of oil tank)
As shown in FIG. 8, the bottom plate 301 of the oil tank 300 is welded at the welded portion 15 in a state where a plurality of materials 303 to 308 to be welded are stacked in a stepped shape from the center of the bottom plate to the outside. Specifically, the inner portion 304a of the second material 304 to be welded is welded by the welded portion 15 in a state where the inner portions 304a of the second material 304 to be welded are overlapped in a stepped shape from the upper side on the outer portions 303a on both sides of the first material 303 to be welded in the center of the bottom plate. .. The inner portion 305a of the third material 305 to be welded is welded to the outer portion 304b of the second material 304 to be welded by the welded portion 15 in a state where the inner portion 305a is overlapped in a stepped shape from the upper side. The inner portion 306a of the fourth material to be welded 306 is welded by the welded portion 15 in a state where the inner portion 306a of the fourth material to be welded 306 is overlapped in a stepped shape from the upper side on the outer portion 305b of the third material to be welded 305.

Further, the inner portions 307a of the fifth material to be welded 307 are welded at the welded portion 15 in a state where the inner portions 307a of the fifth material to be welded 307 are overlapped with the outer end portions 303b and 304c of the first material to be welded 303 and the second material to be welded 304 in a stepped shape from above. ing.
The inner portions 308a of the sixth material 308 are welded to the outer ends 305c and 306b of the third material 305 to be welded and the fourth material 306 to be welded at the welded portion 15 in a state where they are overlapped in a stepped shape from above. .. Further, the inner end portions 308b of the sixth material to be welded 308 are welded to the outer end portions 307b on both sides of the fifth material to be welded 307 at the welded portion 15 in a state of being overlapped in a stepped shape from the upper side.

(Welded part inspection method of bottom plate)
Next, a welded portion automatic inspection method for automatically inspecting the welded portion 15 of the bottom plate 301 of the oil tank 300 by the welded portion inspection device 10 will be described with reference to the flowcharts of FIGS. 6, 8 to 10 and 11. ..
Specifically, as shown in FIG. 8, a method of automatically inspecting the welded portion 15 of the bottom plate 301 of the oil tank 300 in the order of arrow A, arrow B, and arrow C, and arrow A, arrow B, and arrow D. The method of automatically inspecting in order will be described.
Hereinafter, in the materials to be welded stacked in a stepped shape, the material to be welded located on the back side is referred to as the "material to be welded on the back side" and the material to be welded located on the front side when viewed from the side where the welded portion 15 is detected. May be described as "the material to be welded on the front side".

As shown in FIGS. 6, 7, and 11, in the origin setting step (S20), for example, information regarding the origin on the bottom plate 301 of the oil tank 300 is set. Here, the origin is a position where the traveling device 200 starts traveling, and for example, a position where the charger of the battery 216 of the traveling device 200 is installed can be set as the origin.

In the target position moving step (S21), the traveling device 200 is driven to the target position based on the target position information acquired in advance and the position information of the traveling device 200 detected by the position detection sensor 219. That is, the welded portion inspection device 10 moves in the direction of arrow A (see FIG. 8) along the weld line of the welded portion 15, and stops at regular intervals.
When the obstacle detection sensor 222 detects an obstacle while the traveling device 200 is traveling, the traveling device 200 is stopped traveling or the traveling device 200 is driven so as to avoid the obstacle. When the target position is reached, the horizontal sensor 224 controls the independent suspension of the wheels 214 so that the shaft 231 attached to the traveling device 200 is horizontal.

In the inspection device installation step (S22), the control device 230 controls the drive mechanism of the lateral movement mechanism 218 based on the position information of the welded portion 15 input from the step detection sensor 221. The slider member 232 of the lateral movement mechanism 218 is moved to the upper side of the welded portion 15 along the width direction of the traveling housing 212. As a result, the inspection portion 20 connected to the lateral movement mechanism 218 is positioned at an appropriate position above the welded portion 15.
That is, the first sensor holder 51 and the second sensor so that the position of the welded portion 15 specified by the step detection sensor 221 is positioned between the first vibrating body 22 and the first vibrating sensor 54 (see FIG. 1). The holder 52 (see FIG. 1) is moved in the width direction.

As shown in FIGS. 8 and 9, in the inspection unit 20, the first vibrating body 22 and the second vibration sensor 55 are arranged on the third material to be welded 305 on the back side, and the second vibrating body 22 and the second vibration sensor 55 are arranged on the fourth material to be welded 306 on the front side. The second vibrating body 23 and the first vibrating sensor 54 are arranged. Therefore, the first vibrating body 22 and the first vibrating sensor 54 are arranged so as to straddle the welded portion 15. Further, the second vibrating body 23 and the second vibrating sensor 55 are arranged so as to straddle the welded portion 15.
Next, by controlling the electric slider 30 to lower the stage 34, the first vibrating body 22 and the second vibrating sensor 55 are installed on the surface of the third material to be welded 305 on the back side, and the second vibrating body 23 And the first vibration sensor 54 is installed on the surface of the fourth welded material 306 on the front side. By controlling the electric slider 30 to further lower the stage 34, the first leg portion 32 and the second leg portion 33 of the stage 34 are installed on the surface of the bottom plate 301 of the oil tank 300.

Here, as shown in FIG. 1, the first vibration sensor 54 is supported by the first sensor holder 51 with the upper surface of the first vibration sensor 54 open. Further, the second vibration sensor 55 is supported by the second sensor holder 52 with the upper surface of the second vibration sensor 55 open. As a result, the pressing force of the first vibration sensor 54 and the second vibration sensor 55 can be managed to move up and down. As a result, the first vibration sensor 54 can be installed on the surface of the fourth material to be welded 306 on the front side while the measurement accuracy of the first vibration sensor 54 and the second vibration sensor 55 is sufficiently secured, and the second vibration sensor can be installed. 55 can be installed on the surface of the third material to be welded 305 on the back side.

As shown in FIGS. 9 and 11, in the welded portion inspection step (S23), the impact target member determination unit 220 (FIG. 9) indicates that the third welded material 305 is located on the back side of the fourth welded material 306. 7). The first vibrating body 22 is installed on the surface of the third material to be welded 305 on the back side. In this state, the welded portion inspection step shown in FIG. 5, that is, a series of steps from the command transmission step (S1) to the vibration intensity ratio calculation step (S8) is executed.
Here, the first vibrating body 22 is installed on the surface of the third material to be welded 305 on the back side. Therefore, in the command transmission step (S1) to the vibration intensity ratio calculation step (S8), the welded portion 15 is subjected to the first welded portion inspection method in which the first vibrating body 22 applies an impact to the third welded material 305 on the back side. Inspect the throat thickness.
When the vibration intensity ratio calculation step (S8) is completed, the calculation result of the throat thickness (an example of inspection parameters) of the welded portion 15 is saved together with the target position (inspection target position) information.

As shown in FIGS. 6, 9, and 11, in the inspection device retracting step (S24), the first leg 32 and the second leg 32 of the stage 34 are raised by controlling the electric slider 30 to raise the stage 34. The 33 is pulled away from the surface of the bottom plate 301 of the oil tank 300. After that, by controlling the electric slider 30 to further raise the stage 34, the first vibrating body 22, the second vibrating body 23, the first vibrating sensor 54, and the second vibrating sensor 55 are separated from the surface of the bottom plate 301.
Next, the drive mechanism of the lateral movement mechanism 218 is controlled, and the slider member 232 of the lateral movement mechanism 218 is moved along the width direction of the traveling housing 212. As a result, the inspection unit 20 is retracted to a position in the traveling housing 212 that does not interfere with the traveling of the traveling device 200.

Next, in the battery remaining amount detection step (S25), the remaining amount of the battery 216 of the traveling device 200 is detected, and it is determined whether or not charging is necessary. When it is determined that charging is necessary, the traveling device 200 is controlled to travel the traveling device 200 to the origin set in (S20), and the battery 216 is charged by the charger installed at the origin. On the other hand, when it is determined that charging is unnecessary, the control device 230 refers to a timer (not shown) built in (S26), and determines whether or not the traveling time of the traveling device 200 has elapsed a predetermined time. When it is determined that the predetermined time has elapsed, the traveling device control unit 260 controls the traveling device 200 to travel the traveling device 200 to the starting point set in (S20), and replaces the battery 216 at the starting point.

On the other hand, if it is determined that the predetermined time has not elapsed, the process proceeds to the inspection end determination step (S27). In the inspection end determination step (S27), the control device 230 refers to the storage device 85, confirms that the calculation results of the inspection parameters (throat thickness of the welded portion 15) are stored for all the target positions, and all of them. Judge whether the inspection regarding the target position of is completed.
When it is determined that the inspections for all the target positions have been completed, the process proceeds to the inspection result display step (S28). In the inspection result display step (S28), the control device 230 inspects each target position on a display device (for example, a monitor) (not shown) via, for example, the I / F circuit 83 (see FIG. 1) of the inspection control unit 80. Map the results.

If it is determined in (S27) that the inspections related to all the target positions have not been completed, the flow returns to the target position moving step (S21). In the target position moving step (S21), new target position information is acquired, and subsequent steps are sequentially executed for the new target position.
Specifically, the step of the welded portion 15 is detected by the impact target member determination unit 220 to determine the traveling direction of the welded portion inspection device 10. Based on the information of the impact target member determination unit 220, the welded portion inspection device 10 is driven by the traveling device 200 along the welded portion 15 in the direction of arrow A to continuously inspect the welded portion 15. After the inspection of the welded portion 15 in the direction of arrow A is completed by the welded portion inspection device 10, the step of the welded portion 15 is detected by the impact target member determination unit 220, and the arrow B of the welded portion inspection device 10 (see also FIG. 8). Determine the direction of travel to. Based on the information of the impact target member determination unit 220, the welded portion inspection device 10 is driven by the traveling device 200 along the welded portion 15 in the direction of arrow B to continuously inspect the welded portion 15.

The first vibrating body 22 and the second vibrating sensor 55 are installed on the surface of the third material to be welded 305 on the back side in a state where the welded portion inspection device 10 is driven along the welded portion 15 in the direction of arrow B, and is in front of the welded portion. The second vibrating body 23 and the first vibrating sensor 54 are installed on the surface of the sixth welded material 308 on the side. Therefore, the first vibrating body is attached to the third material to be welded 305 on the back side in the same manner as the first welding portion inspection method in which the welded portion inspection device 10 is traveled along the welded portion 15 in the direction of arrow A by the traveling device 200. An impact is applied at 22 to inspect the throat thickness of the welded portion 15.
After the inspection of the welded portion 15 in the direction of arrow B is completed by the welded portion inspection device 10, the step of the welded portion 15 is detected by the impact target member determination unit 220, and the arrow C of the welded portion inspection device 10 (see also FIG. 8). Determine the direction of travel to.

As shown in FIGS. 6, 10 and 11, based on the information of the impact target member determination unit 220, the welded portion inspection device 10 is run along the welded portion 15 by the traveling device 200 in the direction of arrow C for welding. Part 15 is continuously inspected.
In a state where the welded portion inspection device 10 is driven along the welded portion 15 in the direction of arrow C, the second vibrating body 23 and the first vibrating sensor 54 are installed on the surface of the second material to be welded 304 on the back side, and are in front of the welded portion 23. The first vibrating body 22 and the second vibrating sensor 55 are installed on the surface of the third welded material 305 on the side. Therefore, similarly to the second welded portion inspection method, an impact is applied to the second welded material 304 on the back side by the second vibrating body 23 to inspect the throat thickness of the welded portion 15.
As a result, as shown in FIGS. 6 and 8, the welded portion 15 of the bottom plate 301 of the oil tank 300 can be automatically inspected by the welded portion inspection device 10 in the order of arrow A, arrow B, and arrow C.

Here, the welded portion inspection device 10 is traveled in the direction of arrow B to inspect the throat thickness of the welded portion 15, and then the welded portion inspection device 10 is traveled along the welded portion 15 by the traveling device 200 in the direction of arrow D. It is also possible to continuously inspect the welded portion 15. That is, in the same manner as the first welded portion inspection method in which the welded portion inspection device 10 is traveled along the welded portion 15 in the direction of arrow D and traveled in the direction of arrow B, the fifth welded material 307 on the back side An impact is applied by the first vibrating body 22 to inspect the throat thickness of the welded portion 15.
As a result, the welded portion 15 of the bottom plate 301 of the oil tank 300 can be automatically inspected by the welded portion inspection device 10 in the order of arrow A, arrow B, and arrow D.

As described above, according to the welded portion inspection device 10 of the first embodiment, for example, the welded portion inspection device 10 is automatically driven by the traveling device 200 on the bottom plate 301 of the oil tank 300, and the welded portion inspection device 10 is moved to the weld line of the welded portion 15. Move along and stop at regular intervals. The throat thickness of the welded portion 15 can be inspected by moving the sensor portion 24 (first vibration sensor 54, second vibration sensor 55) (see FIG. 1) up and down at the stopped position. As a result, a huge number of inspection points can be inspected efficiently.

As described above, according to the welded portion inspection device 10 of the first embodiment, it is possible to reduce the disturbance of the waveform indicating the first and second vibration intensities measured by the first vibration sensor 54 and the second vibration sensor 55. Moreover, a huge number of inspection points can be inspected efficiently.

The first embodiment of the present invention has been described above. However, the present invention is not limited to the above embodiment. On the bottom plate 301 of the oil tank 300, rust from the plate material forming the bottom plate 301, rust that has fallen from the roof of the oil tank 300, and the like may exist, which may affect the inspection result. Therefore, the traveling device 200 may be further provided with an air blow for removing rust, dust, and the like existing on the bottom plate 301.

In the first embodiment, in the inspection device evacuation step (S24), the inspection unit 20 is separated from the bottom plate 301 of the oil tank 300, and then the lateral movement mechanism 218 is driven to drive the inspection unit 20 to travel the traveling device 200. Moved to a position that does not interfere. However, the present invention is not limited to this, and the inspection unit 20 may not be moved in the width direction as long as it does not interfere with the traveling of the traveling device 200 after the inspection unit 20 is separated from the bottom plate 301 of the oil tank 300.

In the first embodiment, when the control device 230 determines in (S26) that the predetermined time has elapsed, the traveling device control unit 260 controls the traveling device 200 to reach the starting point set in (S20). The battery 216 was replaced at the starting point. However, the present invention is not limited to this, and in (S26), when it is determined that the predetermined time has elapsed, the fact that the battery 216 needs to be replaced is displayed on a display device (not shown) via, for example, the I / F circuit 83. You may. The worker is notified by displaying on the display device that the battery 216 needs to be replaced, and the battery 216 is replaced on the spot without returning to the starting point.

In the first embodiment, in the target position moving step (S21), the traveling device 200 is moved to the target position based on the target position information acquired from the storage device 85 and the position information of the traveling device 200 detected by the position detection sensor 219. I let it run. However, the present invention is not limited to this, and the continuous welding line of the welded portion 15 of the bottom plate 301 of the oil tank 300 is detected by, for example, the step detection sensor 221 and the traveling device 200 is along the weld line detected by the step detection sensor 221. May be run.

<Embodiment 2>
Next, the welded portion inspection device 400 of the second embodiment will be described with reference to FIGS. 12 and 13. In the welded portion inspection device 400 of the second embodiment, the same and similar members as the welded portion inspection device 10 of the first embodiment are designated by the same reference numerals, and detailed description thereof will be omitted.
As shown in FIG. 12, the welded portion inspection device 400 of the second embodiment has a stage 34 rotatably configured by removing the second vibrating body 23 from the welded portion inspection device 10 of the first embodiment, and other The configuration is the same as that of the welded portion inspection device 10 of the first embodiment.
The stage 34 is rotatably supported in, for example, the arrow E direction (clockwise direction) and the arrow F direction (counterclockwise direction) about the rotation axis 402. A first vibrating body 22, a second vibrating sensor 55, and a first vibrating sensor 54 are supported on the stage 34. The stage 34 may be configured to rotate in either the arrow E direction or the arrow F direction.

According to the welded portion inspection device 400 of the second embodiment, the first vibrating body 22 and the second vibrating sensor 55 are installed on the first material to be welded 13 on the back side, and the first vibrating sensor 54 is the second on the front side. It is installed on the material 14 to be welded. The first vibrating body 22 applies an impact to the first material 13 to be welded on the back side and welds based on the first vibrating intensity and the second vibrating intensity measured by the first vibrating sensor 54 and the second vibrating sensor 55. Inspect the throat thickness of part 15.

As shown in FIG. 13A, according to the welded portion inspection device 400, the first vibrating body 22 and the second vibrating sensor 55 are installed on the second material 14 to be welded on the front side, and the first vibrating sensor 54 Is considered to be installed on the first material to be welded 13 on the back side. In this case, the stage 34 is rotated in the direction of arrow E about the rotation axis 402.

As shown in FIG. 13B, by rotating the stage 34, the first vibrating body 22 and the second vibrating sensor 55 are installed on the first material to be welded 13 on the back side, and the first vibrating sensor 54 It is installed on the second material to be welded 14 on the front side. The first vibrating body 22 applies an impact to the first material 13 to be welded on the back side and welds based on the first vibrating intensity and the second vibrating intensity measured by the first vibrating sensor 54 and the second vibrating sensor 55. Inspect the throat thickness of part 15.

As described above, according to the welded portion inspection device 400, by rotating the stage 34, the second vibrating body 23 is not supported on the stage 34, and as in the welded portion inspection apparatus 10 of the first embodiment, for example, petroleum The welded portion 15 of the bottom plate 301 (see FIG. 8) of the tank 300 can be inspected. That is, the welded portion 15 can be inspected while the welded portion inspection device 400 of the second embodiment is automatically run on the bottom plate 301 of the oil tank 300, for example. As a result, according to the welded portion inspection device 400 of the second embodiment, a huge number of inspection points can be efficiently inspected as in the first embodiment.
As described above, according to the welded portion inspection device 400 of the second embodiment, it is possible to reduce the disturbance of the waveform indicating the first and second vibration intensities measured by the first vibration sensor 54 and the second vibration sensor 55. Moreover, a huge number of inspection points can be inspected efficiently.

The technical scope of the present invention is not limited to the above-described embodiment, and various modifications can be made without departing from the spirit of the present invention.
In the first and second embodiments, one of the welded material on the back side and the welded material on the front side is used as the welded material on the back side, and an impact is applied to the welded material on the back side. An example of inspecting the throat thickness of a welded portion has been described, but the present invention is not limited to this. As another example, one of the material to be welded on the back side and the material to be welded on the front side is used as the material to be welded on the front side, and an impact is applied to the material to be welded on the front side to apply an impact to the throat of the welded portion. The thickness may be inspected.

10,400 ... Welded portion inspection device 12 ... Welded plate material 13 ... First material to be welded (material to be welded on the back side, one material to be welded)
14 ... Second material to be welded (material to be welded on the front side, one material to be welded)
15 ... Welded portion 21 ... Vibrating bodies 22, 23 ... First and second vibrating bodies 24 ... Sensor unit 30 ... Electric slider (vertical movement mechanism)
34 ... Stage 51 ... First sensor holder (first holder)
52 ... Second sensor holder (second holder)
54 ... First vibration sensor (first sensor)
55 ... Second vibration sensor (second sensor)
85 ... Storage device (storage unit)
88 ... Calculation unit 200 ... Traveling device 212 ... Traveling housing (housing)
214 ... 4 wheels 214a ... 1st wheel 214b on one side ... 2nd wheel 216 on the other side ... Battery 218 ... Lateral movement mechanism 219 ... Position detection sensor (position sensor)
220 ... Impact target member determination unit 221 ... Step detection sensor 222 ... Obstacle detection sensor (obstacle detection device)
224 ... Horizontal sensor 226 ... Headlight 230 ... Control device 300 ... Oil tank 301 ... Bottom plate

Claims (11)

It is a welded part inspection device that inspects the welded part where the material to be welded on the back side and the material to be welded on the front side are welded in a stepped shape when viewed from the detection side.
A striking target member determination unit that determines one of the welded material on the back side and the welded material on the front side.
A vibrating body that applies an impact to the one welded material determined by the impact target member determination unit, and
The first vibration intensity of the shock wave propagated from the one welded material through the welded portion to the other welded material by the impact is measured, and the second shock wave propagated through the one welded material by the impact. Sensor unit that measures the vibration intensity of
A calculation unit that inspects the inspection parameters of the welded portion by a calibration curve corresponding to the ratio of the first vibration intensity to the second vibration intensity.
A welded part inspection device characterized by being provided with. The welded portion inspection device according to claim 1, wherein the impact target member determination unit detects a step in the welded portion and determines a traveling direction of the welded portion inspection device. The sensor unit
A first sensor that measures one of the first vibration intensity and the second vibration intensity, and
A second sensor that measures the other of the first vibration intensity and the second vibration intensity is provided.
The welded portion inspection device according to claim 1 or 2, wherein the first sensor and the second sensor are supported by the first holder and the second holder with the upper surface open. .. The material to be welded on the back side and the material to be welded on the front side are fillet welded.
The welded portion inspection apparatus according to any one of claims 1 to 3, wherein the inspection parameter is the throat thickness of the welded portion. The welded portion inspection device according to claim 3, further comprising a vertical movement mechanism for moving the first holder and the second holder in the vertical direction. A traveling device capable of traveling on the material to be welded on the back side and the material to be welded on the front side.
A lateral movement mechanism provided in the traveling device to move the first holder and the second holder in a width direction orthogonal to the traveling direction of the traveling device.
The traveling device is provided with the lateral movement mechanism and a control device for controlling the traveling device.
The welded portion inspection device according to claim 3 or 5, wherein the control device includes the arithmetic unit. A storage unit that stores target position information and
A position sensor for detecting the position of the traveling device is further provided.
The control device is characterized in that the traveling device is moved to a target position based on the position of the traveling device detected by the position sensor and the target position information stored in the storage unit. 6. The welded portion inspection device according to 6. The traveling device is
A wheel capable of traveling on the material to be welded on the back side and the material to be welded on the front side,
The housing supported by the wheels and
The battery that drives the wheels and
Independent suspension suspension, which can independently adjust the height of the wheels with respect to the housing.
6. or claim 6, wherein the control device controls the independent suspension type suspension and maintains the levelness of the housing with respect to the material to be welded on the back side and the material to be welded on the front side. 7. The weld inspection apparatus according to 7. Further provided with a step detection sensor that detects a step between the material to be welded on the back side and the material to be welded on the front side and identifies the position of the welded portion.
The control device controls the lateral movement mechanism, and the position of the welded portion specified by the step detection sensor is positioned between the vibrating body and the sensor portion for measuring the first vibration intensity. The welded portion inspection device according to any one of claims 6 to 8, wherein the first holder and the second holder are moved in the width direction. The welded portion inspection device according to any one of claims 6 to 9, wherein the welded material on the back side and the welded material on the front side form a part of a bottom plate of an oil tank. The welded portion inspection device according to any one of claims 6 to 10, wherein the traveling device further includes a headlight and an obstacle detection device.

Images