JP2535168Y2 - Underwater structure inspection equipment - Google Patents

Description

[Detailed description of the invention] [Industrial application field] The invention relates to an inspection device for an underwater structure such as a quay or a ship outer panel, and is designed to reduce the size and weight of the device.

[Prior art] For inspection and management of corrosion and cracks in harbor structures such as quays and ship outer panels, it is necessary to know these conditions.
Conventionally, inspection by a diver has been performed.

In the inspection by the diver, the cleaning equipment and the inspection equipment were each brought into the water, and firstly, a necessary part of the inspection was investigated, and after cleaning this part, the inspection and the measurement were performed.

[Problems to be solved by the invention] In such inspection by a diver, it is necessary to go back and forth between the land and the water with cleaning equipment and inspection equipment each time, depending on the contents of the work in the water, and the work time becomes longer. Problem.

In addition, underwater work is extremely dangerous and dangerous,
There is a problem that the inspection cannot be performed due to the weather.

In addition, divers are not always skilled in inspection, and sometimes have a problem in inspection accuracy. Also,
There is also a problem that it takes a considerable amount of time from the start of the inspection to the understanding of the result because the inspector and the data analyzer are different. Furthermore, when the number of divers performing such operations is small and the inspection target such as a quay is large, there is a problem that it takes much more time.

The present invention has been made in view of the above-mentioned problems of the prior art.In addition to being able to perform cleaning and inspection in a single underwater operation, it is also possible to perform inspections in water by remote control from the land, and to reduce the depth of cracks. An object of the present invention is to provide a small and light underwater structure inspection device that can be easily measured.

Means for Solving the Problems In order to solve the above problems, an underwater structure inspection apparatus of the present invention is provided with a cleaning device for a surface to be inspected so as to be movable in a direction opposite to a device frame opposed to the surface to be inspected in water, and In addition to mounting the inspection equipment, the inspection equipment is configured so that the interval between the two sets of transmission / reception sensors of the acoustic probe is doubled, while being independent of these cleaning equipment and the inspection equipment. A work monitoring device that can be directed in an arbitrary direction is mounted on the device frame.

In addition, the underwater structure inspection apparatus of the present invention mounts the cleaning device and the inspection device on the surface to be inspected on the device frame so as to be movable in a direction opposite to and parallel to the surface to be inspected in water. The device is characterized in that the device is attached so that the interval between the two sets of transmission / reception sensors of the acoustic probe is doubled.

[Operation] Two sets of cleaning before inspection and subsequent inspection are provided by providing a cleaning device and an inspection device that can be moved in the opposite direction so that the device frame can be made to approach or separate from the surface to be inspected. The transmission / reception sensors of the acoustic probe are mounted so that the distance between them is doubled so that the depth of the crack is detected from the two sets of measurement results. The work monitoring device mounted so as to be directed in the direction is directed in the work direction so that these operations can be performed by remote control.

In addition to moving the device frame in the opposite direction so that it can be independently approached or separated from the surface to be inspected, it can also be moved in a direction parallel to the surface to be inspected, such as a horizontal direction that is integral with the surface to be inspected. A movable cleaning device and an inspection device are provided, and the cleaning before the inspection and the subsequent inspection are performed by mounting the two sets of transmission / reception sensors of the acoustic probe so that the interval between them is doubled. The depth of the cracks is detected from the two sets of measurement results, and these operations can be performed even by remote control by directing the operation monitoring device attached to the device frame in any direction to the operation direction. I can do it.

[Example] Hereinafter, an example of the present invention will be described in detail with reference to the drawings.

1 to 4 relate to an embodiment of the underwater structure inspection apparatus of the present invention, FIG. 1 is a right side view, FIG. 2 is a plan view,
FIG. 3 is a front view, and FIG. 4 is a side view in which work monitoring equipment is extracted.

The underwater structure inspection apparatus 10 includes an apparatus frame 11 framed in a box shape, and fitting metal fittings 12 are attached to four corners of the front surface facing the inspection surface S. The device frame 11 can be arranged at a predetermined interval.

A wire brush 14 that is rotationally driven as a cleaning device 13 is mounted on an intermediate portion of the device frame 11. The cleaning device 13 is movable in the opposite direction so as to be able to approach and separate from the surface S to be inspected. Therefore, the cleaning device 13 has two cylindrical guide rails 16 in the front-rear direction (the left-right direction in FIG. 1) of the apparatus frame 11. The cleaning device 13 is mounted on a slide rod 15 that moves along these guide rails 16 and is driven by a fluid pressure cylinder such as an air cylinder 17.

The cleaning device 13 is provided with a hydraulic motor 18 for rotating the wire brush 14 so that hydraulic oil is supplied from outside the device frame 11 via a connector 20 at the tip of a hydraulic hose 19. It has become.

Therefore, after the apparatus frame 11 is positioned on the predetermined inspection surface S, the cleaning device 13 is moved by the air cylinder 17 to the inspection surface S.
The inspection target surface S can be cleaned by driving the wire brush 14 with the hydraulic motor 18 while rotating the wire brush 14.

Next, as the inspection device 21, an acoustic probe for measuring the deterioration of concrete, an ultrasonic probe for measuring the thickness of a steel material, or the like is used.

For example, when measuring the depth of cracks generated in concrete, as shown in FIG. 3, two sets of acoustic probes 22 and 23 are used, and the respective transmission / reception sensors 22a and 22b are used.
The distance between the transmission and reception sensors 23a and 23b is fixed to be doubled, and the measurement is performed such that the crack is located on a bisector of these intervals.

In the case of measuring the thickness of a steel material, the thickness is measured by using one ultrasonic probe 24 as shown by a dashed line in FIG.

Since such an inspection device 21 needs to be brought into contact with the inspection surface S similarly to the cleaning device 13, the device frame 11
The two guide rails 26 are attached to the lower part of the guide rail 26 in the opposite direction, and the inspection device 21 is mounted on a slide rod 25 that slides along these guide rails 26.
It is designed to be driven reciprocally by a fluid pressure cylinder such as the one described above.

A television camera 29 is mounted on the apparatus frame 11 in a corrosion-resistant aluminum container as an operation monitoring device 28 for monitoring the operations of the cleaning device 13 and the inspection device 21.

As shown in FIG. 4, a spherical lens 30 is attached to the tip of the television camera 29 so that the effective angle of view is about 180 degrees. A zoom motor 32 and a pan motor 33 are provided so that monitoring can be performed in any direction.

In addition, the television camera 29 is provided with a signal control interface device 34, and a cable connected to the connector 35.
At 36, the image is sent to the outside (ground) of the device frame 11.

Further, lights 37 are mounted on the upper and lower sides of the television camera 29, respectively.

The underwater structure inspection apparatus 10 configured as described above is used by a diver or attached to, for example, a remote control device 50 as shown in FIG.

The remote control device 50 includes an inspection vehicle 51 as a traveling vehicle, and a remote control device is mounted on the inspection vehicle 51.

A swivel table 52 is mounted on the bed of the inspection car 51, and a swivel arm 53 is mounted on the swivel table 52 so that the swivel arm can rotate 360 degrees on a horizontal plane. This swivel arm 5
Two foldable booms 54 and 55 are attached to the distal end of 3. And the swing arm 53 and the lower boom
Telescopic cylinders 56 and 57 are mounted between the lower boom 54 and the lower boom 55 and the upper boom 55, respectively, so that the booms 54 and 55 can be expanded and contracted.

A wrist arm 58 is attached to the tip of such an upper boom 55, and the device frame 11 is fixed to the wrist arm 58.

With the booms 54 and 55 and the wrist arm 58, the tip of the wrist arm 58 can be moved to an arbitrary position from above the inspection vehicle 51 and can be brought into contact with the surface S to be inspected at right angles.

Next, an inspection operation of the inspection surface S of the underwater structure performed by attaching the underwater structure inspection device 10 to the remote control device 50 will be described.

First, the inspection vehicle 51 is moved to a quay where the surface S to be inspected is located, and the inspection vehicle 51 is stopped at a predetermined position on the quay, for example, as shown in FIG. Thereafter, the telescopic cylinders 56, 57 are operated to extend the booms 54, 55, and the front of the underwater structure inspection device 10 attached to the tip of the wrist arm 58 is directed toward the quay,
The fitting 12 of the apparatus frame 11 is applied to the surface S to be inspected.

After the approximate position is determined in this way, the work monitoring equipment 28
TV camera 29 with tilt motor 31 and zoom motor 3
2. The appearance of the surface S to be inspected is inspected by operating the pan motor 33, and the inspection position is determined.

Thereafter, the remote controller 50 is operated so that the underwater structure inspection device 10 is vertically applied to the inspection surface S, and the cleaning device 13 is operated to clean the inspection surface S. That is, the hydraulic motor
The hydraulic oil is supplied to 18 to rotate the wire brush 14.

Next, the rod of the air cylinder 17 is extended, and the wire brush 14 is pressed against the surface S to be inspected.
The wire brush 14 is moved horizontally to the surface to be inspected S by rotating the surface, and the surface to be inspected S is cleaned to finish the shelling and surface polishing.

Thereafter, for example, measurement of cracks in concrete is started.

First, the concrete cracks detected by the television camera 29 are arranged so as to be at the center of the four sensors 22a, 22b, 23a and 23b, and the rod of the air cylinder 27 is extended and pressed against the surface S to be inspected.

After the preparation is completed in this way, measurement by the transmission / reception sensors 22a and 22b of the inner acoustic probe 22 is performed.

Then, the arrival time T1 of the sound wave passing through the tip of the crack is detected. At this time, since the sound velocity V transmitted through the concrete that is the medium is not known, the depth y of the crack cannot be immediately obtained.

Therefore, this time the sensor for transmission and reception of the acoustic probe 23
The measurement by 23a and 23b is performed to detect the arrival time T2 of the sound wave passing through the tip of the crack.

From the arrival times T1 and T2 of these two sound waves, the crack depth y can be obtained by the following equation.

y = L [(4T1 ² -T2 ² ) / (4T2 ² -T1 ² )] ^1/2 where L is the distance from the crack to the transmission / reception sensors 22a and 22b, and the transmission / reception sensors 22a and 22b and the transmission / reception sensor. Two
It is the distance between 3a and 23b.

These series of operations are performed on land while being monitored by the television camera 29 of the operation monitoring device 28, and the measurement results are collected in the inspection vehicle 51.

After the measurement is completed, the underwater structure inspection apparatus 10 is moved to the next inspection position, and the same operation is repeated to continue the measurement.

 Further, the thickness measurement of the steel material is performed as follows.

This thickness measurement is performed by applying the ultrasonic probe 24 to the surface S to be inspected. The pressing force can be easily measured by applying the force by the air cylinder 27. These series of operations are also performed on land while being monitored by the television camera 29 of the work monitoring device 28, and the measurement results are also inspected by the inspection vehicle.
Collect to 51.

After the measurement is completed, the ultrasonic probe 24 is moved to continue the measurement.

In this way, by independently operating the cleaning device 13 and the inspection device 21 provided in the upper and lower stages and the operation monitoring device 28, the operation can be performed while constantly monitoring.

In addition, since the cleaning device 13 and the inspection device 21 can be moved only in the direction facing the surface S to be inspected, the moving mechanism is simplified, and the entire apparatus can be reduced in size and weight.

Further, the use of the remote control device 50 allows a wide range of inspection of the underwater structure to be easily performed from the ground.

Also, the diver may carry out the inspection work without mounting the underwater structure inspection device 10 to the remote control device 50. Work can be performed more efficiently than before.

Next, another embodiment of the present invention will be described in detail with reference to FIGS.

6 to 9 relate to another embodiment of the underwater structure inspection apparatus of the present invention. FIG. 6 is a right side view, FIG. 7 is a plan view, FIG. 8 is a front view, and FIG. FIG. 7 is a partial explanatory view of a laterally moving cart (a view taken along the line IX-IX in FIG. 6).

In this underwater structure inspection device 60, the cleaning device 13 and the inspection device 21 can be independently moved with respect to the device frame 11 in the facing direction of approaching or separating from the inspection surface S. The cleaning device 13 and the inspection device 21 can be integrally moved in the direction parallel to the surface to be inspected S, such as the left and right direction parallel to the surface S to be inspected. Have been.

In the underwater structure inspection apparatus 60, a laterally moving carriage 61 is provided at a lower portion of the apparatus frame 11 having a box-like frame and having fittings 12 attached to four front corners facing the surface to be inspected S. As shown in FIGS. 6 and 9 in an enlarged manner, two guides 62 are attached to the lower side of the laterally moving carriage 61 along the moving direction and move to one end of the guides 62 in the moving direction. A roller 63 is mounted.

A guide rail 64 having a U-shaped cross section on which the moving roller 63 travels is attached to the apparatus frame 11 and a fixed roller 65 is attached to the other end of the laterally moving carriage 61 in the moving direction. And is in contact with the lower surface of the guide 62 of the laterally moving carriage 61.

Further, at the center of the lower surface of the laterally moving cart 61, the device frame
The tip of the rod of the laterally moving cylinder 66 mounted on 11 is connected via a pin, and the laterally moving carriage 61 is laterally moved in a direction parallel to the surface S to be inspected by the expansion and contraction of the rod of the laterally moving cylinder 66. Can be.

The cleaning device 13 and the inspection device 21 that can be moved in the opposite directions so as to be able to approach and separate from the inspection surface S independently from each other are mounted on the laterally moving carriage 61 side by side in the lateral movement direction. However, the movement in the facing direction is also performed by the cleaning carriage 67 and the inspection carriage 68.

For this purpose, fixed rollers 69 are provided at the leading end of the laterally moving carriage 61 corresponding to the widths of the respective carriages 67 and 68.
The lower surfaces of the carts 67 and 68 are in contact with each other, and an L-shaped guide 70 is attached to each of the carts 67 and 68 along the moving direction. And, at the base end of each of the carts 67 and 68,
Hydraulic cylinders 71 and 72 fixed to the laterally moving cart 61 respectively
The ends of the rods are connected via pins, so that the carriages 67 and 68 can be independently driven in opposing directions by the expansion and contraction of the rods.

Since the cleaning device 13 and the inspection device 21 mounted on the cleaning trolley 67 and the inspection trolley 68 are the same as those already described, their description will be omitted.

Further, the work monitoring device 28 provided above the cleaning device 13 and the inspection device 21 is also the same as that already described, and therefore, redundant description will be omitted.

The underwater structure inspection device 60 configured as described above is used by a diver similarly to the underwater structure inspection device 10 already described, and is attached to, for example, a remote control device 50 as shown in FIG. used.

Therefore, a case in which the inspection of the inspection surface S is performed by attaching the underwater structure inspection device 60 to the remote control device 50 will be described.

The operation from the appearance inspection of the inspection surface S to the determination of the inspection position is the same as that of the underwater structure inspection apparatus 10 described above.

Thereafter, the remote controller 50 is operated so that the underwater structure inspection device 60 is vertically applied to the inspection surface S, and the cleaning device 13 is operated to clean the inspection surface S.

First, supply hydraulic oil to the hydraulic motor 18 to
Rotate 14. Next, the rod of the hydraulic cylinder 71 is extended, and the wire brush 14 is pressed against the surface S to be inspected.
, The wire brush 14 is horizontally moved in parallel with the surface S to be inspected, a predetermined area of the surface S to be inspected is cleaned, and the shelling and surface polishing are completed.

Thereafter, for example, measurement of cracks in concrete is started.

First, in order that the concrete crack detected by the television camera 29 is located at the center of the four sensors 22a, 22b, 23a, and 23b, the rod of the laterally moving cylinder 66 is contracted and the laterally moving carriage 61 is returned. The sensors 22a, 22b, 23a, 23b are arranged.

Then, the rod of the hydraulic cylinder 72 is extended, and the four sensors 22a, 22b, 23a, and 23b are pressed against the inspection surface S.

After the preparation is completed, the measurement of the depth of the crack, etc., which has been performed, has already been described, and will not be described.

After the measurement is completed, the apparatus frame 11 is moved to the next inspection position, the same operation is repeated, and the measurement is continued.

Also, the measurement of the thickness of the steel material is performed in the same manner by applying the ultrasonic probe to the surface S to be inspected.

As described above, the cleaning device 13 and the inspection device 21 provided side by side in the moving direction of the laterally moving carriage 61 are simultaneously laterally moved and independently moved in the opposite direction, and the work monitoring device 28 is independently operated. The operation can be performed while constantly monitoring.

In addition, since the cleaning device 13 and the inspection device 21 can be moved independently in the direction facing the inspection surface S and can be moved integrally in the horizontal direction, the device frame can be moved by the remote control device 50 or a diver. There is no need to move the cleaning device 13 or the inspection device 21 to a predetermined position with each 11,
The degree of freedom of the remote control device 50 is reduced, the mechanism is simplified, the entire underwater structure inspection device 60 can be reduced in size and weight, and the device frame 11 is once placed at a predetermined position on the surface S to be inspected. If the positioning is performed, the inspection work can be performed by moving the laterally moving trolley 61, the cleaning trolley 67, and the inspection trolley 68 in the apparatus frame 11 without moving the entire apparatus frame 11, thereby facilitating the operation.

Further, the use of the remote control device 50 allows a wide range of inspection of underwater structures from the ground more easily.

In addition, the diver may carry out the inspection work without attaching the underwater structure inspection device 60 to the remote control device 50. Work can be performed more efficiently than in the past.

In addition, if a vacuum suction-type discharge device is provided in addition to the wire-brush device for shelling and surface polishing as a cleaning device described in each of the above-described embodiments, water removed without turbidity is discharged. Can be performed.

In addition, it is also possible to attach a sample collecting device, a repair underwater welding device, a coating device, and the like to the device frame so that repair can be performed at the same time as inspection.

Further, changes may be made to the respective components without changing the gist of the present invention.

[Effects of the Invention] As described above in detail with the embodiment, according to the underwater structure inspection apparatus of the invention, a cleaning device and an inspection apparatus that can be moved to the apparatus frame in the direction facing the surface to be inspected. In addition to providing equipment, this inspection equipment is installed so that the interval between the two sets of transmission / reception sensors of the acoustic probe is doubled, and the work is monitored while monitoring the work with a work monitoring device attached to the device frame. Since the inspection is performed, the inspection can be performed by remote control from the land, and the operation can be efficiently performed even by a diver.

Further, since the cleaning device and the inspection device can be moved only in the facing direction, the moving mechanism is simplified, and the entire apparatus can be reduced in size and weight.

Furthermore, according to the underwater structure inspection apparatus of the present invention, the apparatus frame is provided with a cleaning device and an inspection device that can be moved in the direction opposite and parallel to the surface to be inspected, and two sets of the inspection device are provided. The interval between the transmission and reception sensors of the acoustic probe is doubled, and these operations are performed while monitoring these operations with the operation monitoring device attached to the device frame. In addition to performing inspections by remote control from the land, it is possible to perform work more efficiently even when using a diver.

In addition, since the cleaning device and the inspection device can be moved in the facing direction and the parallel direction, the remote control mechanism can be simplified, and the entire system can be reduced in size and weight. In this case, the inspection operation can be performed by the moving mechanism in the apparatus frame without moving the entire apparatus frame, and the operation can be easily performed.

Furthermore, if these underwater structure inspection devices are remotely operated, underwater work can be eliminated, safety is improved, and the problem of securing a small number of divers is solved.

In addition, since a person skilled in inspection work can directly make a judgment based on data sent from the inspection apparatus, data quality can be improved and analysis of inspection results can be completed in a short time.

Furthermore, as the inspection equipment, two sets of transmission / reception sensors of the acoustic probe are attached so that the interval between them is doubled to perform the inspection, so that the depth of the crack can be easily determined from the two sets of measurement results. You can know.

[Brief description of the drawings]

1 to 4 show an embodiment of the underwater structure inspection apparatus of the present invention. FIG. 1 is a right side view, FIG. 2 is a plan view, FIG. 3 is a front view, and FIG. It is the side view which extracted the monitoring equipment. FIG. 5 is an explanatory view of a case where an inspection is performed by a remote control device using one embodiment of the underwater structure inspection device of the present invention. 6 to 9 relate to another embodiment of the underwater structure inspection apparatus of the present invention. FIG. 6 is a right side view, FIG. 7 is a plan view, FIG. 8 is a front view, and FIG. FIG. 7 is a partial explanatory view of a laterally moving cart (a view taken along the line IX-IX in FIG. 6). 10: Underwater structure inspection equipment, 11: Equipment frame, 13: Cleaning equipment, 14: Wire brush, 15: Slide rod, 16: Guide rail, 17: Air cylinder, 21: Inspection equipment, 22, 23: Sonic probe Probe, 24: Ultrasonic probe, 25: Slide rod, 26: Guide rail, 27: Air cylinder, 28: Work monitoring device, 29:
TV camera, 30: spherical lens, 31: motor for tilt, 3
2: Zoom motor, 33: Pan motor, 50: Remote control device, S: Surface to be inspected, 60: Underwater structure inspection device, 61: Lateral carriage, 62: Guide, 63: Moving roller, 64: Guide Rail, 65:
Fixed roller, 66: lateral moving cylinder, 67: cleaning trolley, 68: inspection trolley, 69: fixed roller, 70: guide, 71, 72: hydraulic cylinder.

 ──────────────────────────────────────────────────続 き Continuing on the front page (72) Inventor Hiroto Maeda 2-1-1 Toyosu, Koto-ku, Tokyo Ishikawa Shima-Harima Heavy Industries Co., Ltd. Tokyo First Plant (72) Inventor Haruwa Asazuma Toyosu, Koto-ku, Tokyo 2-1-1, Ishikawa Shima-Harima Heavy Industries, Ltd., Tokyo Daiichi Plant (72) Inventor Hiroyuki Morita 2-1-1, Toyosu, Koto-ku, Tokyo Ishikawa Shima-Harima Heavy Industries Co., Ltd. Tokyo Daiichi Plant (72) Person Takanobu Miki 2-1-1 Toyosu, Koto-ku, Tokyo Ishikawa Shima-Harima Heavy Industries Co., Ltd. Tokyo First Factory (56) References JP-A-2-71138 (JP, A) JP-A-56-138217 (JP, A)

Claims (2)

(57) [Scope of request for utility model registration] 1. A device for cleaning a surface to be inspected and a device for inspection are movably mounted in a device frame facing an underwater surface to be inspected in a facing direction, and two sets of acoustic probes are used as the inspection device. The transmission / reception sensor is mounted so that the interval between the transmission and reception sensors is doubled, and a work monitoring device that can be directed in an arbitrary direction independently of the cleaning device and the inspection device is mounted on the device frame. Underwater structure inspection equipment. 2. The apparatus for cleaning a surface to be inspected and the device for inspection are mounted on the apparatus frame so as to be movable in a direction facing and parallel to the surface to be inspected in water, and two sets of sonic probes are used as the inspection device. The underwater structure inspection apparatus according to claim 1, wherein the underwater structure inspection device is configured so that the interval between the transmitting and receiving sensors of the tentacle is doubled.