JP2646012B2 - Underwater inspection equipment - Google Patents

Description

DETAILED DESCRIPTION OF THE INVENTION [Industrial Application Field] The present invention relates to an inspection device for an underwater columnar structure such as a quay or a shore, and enables inspection and investigation by remote control from land. .

[Conventional technology]

In order to inspect and manage erosion and fatigue caused by aging and fatigue of harbor structures such as quays and coasts, it is necessary to know these conditions. Conventionally, divers have conducted surveys and inspections.

There are various shapes to be inspected by the diver, but there are many cylindrical structures such as concrete and iron piles.

Conventionally, in such an inspection, a diver brings a cleaning device and an inspection device into the water, first investigates a portion that needs to be inspected, cleans this portion, and then performs inspection and measurement.

[Problems to be solved by the invention]

In such an inspection by a diver, there is a problem in that it is necessary to reciprocate between land and water with a cleaning device or an inspection device each time depending on the content of the operation in the water, and the operation time becomes longer.

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.

In addition, there is another problem that a considerable amount of time is required 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 and the number of columnar structures such as piles is large, there is a problem that it takes much time for the investigation and inspection.

The present invention has been made in view of the problems of the related art, and can perform cleaning and inspection in a single underwater operation, and can perform an underwater inspection of a cylindrical structure underwater even by remote control from land. It is intended to provide a device.

[Means for solving the problem]

In order to solve the above-mentioned problems, an underwater inspection apparatus of the present invention forms an apparatus frame facing an underwater cylindrical inspection surface in an arc-shaped frame concentric with the inspection surface. Abutting plates are provided on both sides for positioning against the surface to be inspected, and a fixing mechanism for clamping and fixing the columnar object to be inspected is provided. While the cleaning device and the inspection device for the surface to be inspected are mounted as much as possible, a work monitoring device which can be directed in any direction independently of the cleaning device and the inspection device is mounted in the device frame. Things.

[Action]

Provide an abutment plate and a fixing mechanism on an apparatus frame concentrically framed with an underwater cylindrical structure so that it can be fixed to a cylindrical surface to be inspected, and move the apparatus frame horizontally, forward and backward, and up and down. Cleaning equipment and inspection equipment to perform pre-inspection cleaning and subsequent inspection, and direct these operations to the work monitoring equipment attached to the equipment frame in the direction, and all of them by remote control I am working.

〔Example〕

Hereinafter, an embodiment of the present invention will be described in detail with reference to the drawings.

1 (A), 1 (B) and 1 (C) are a front view, a plan view, and a side view of an embodiment of an underwater inspection apparatus according to the present invention.

The underwater inspection apparatus 10 includes an apparatus frame 11 facing a surface of a cylindrical structure, which is a surface to be inspected, and includes an underwater video camera 12, a shelling and surface polishing apparatus 13, an ultrasonic The probe 14 and the like are mounted.

The device frame 11 is framed concentrically with the columnar structure, and is substantially fan-shaped when viewed from a plane.

At the rear of the device frame 11, two guide rails 15 are mounted on both sides in the vertical direction.
An arc-shaped moving table 16 that moves up and down is mounted on 15, and is driven by two hydraulic cylinders 17. A pair of two arc-shaped slide rails 18 are mounted on the movable base 16 in the horizontal direction.
A slider 19 is mounted on 18 so that it can move in the left-right direction. The slider 19 can be laterally moved concentrically with the surface to be inspected by a lateral movement motor 22 having a pinion 21 that meshes with an arc-shaped rack 20 provided on the movable base 16 along the slide rail 18. It has become.

Further, the slider 19 is provided with a slide rod 23 so as to protrude forward of the device frame 11, and the underwater video camera 12 is mounted on the slider 24 so that the slider 19 can move forward and backward, and rotate around the vertical axis and the horizontal axis. Attached so that you can. Illumination devices 25 are attached to the left and right of the underwater video camera 12, respectively, so that monitoring underwater is possible.

Further, below the underwater video camera 12 of the slider 19, two slide rods 26 are provided so as to protrude forward of the apparatus frame 11, and the sliders 27 are connected,
It can be expanded and contracted in two stages, and a high pressure water nozzle 28 as a shell removal and surface polishing device 13 is attached to the most advanced slide rod 26, and high pressure water of about 700 kg / cm ² is applied to the surface to be inspected. This makes it possible to remove the attached shellfish and algae, and at the same time, clean and put the material into a polished state.

An ultrasonic probe 14 for measuring the thickness of the plate is mounted adjacent to the high-pressure water nozzle 28, and is provided with five probes so that five points can be measured simultaneously.

A fixing mechanism 29 for fixing such an underwater inspection device 10 to a cylindrical structure as a surface to be inspected is provided on the device frame 11. The fixing mechanism 29 is mounted so that the contact plates 30 that can move back and forth on both sides of the apparatus frame 11 can adjust the amount of protrusion, and a fixing cylinder that opposes the upper and lower ends of the apparatus frame 11 in a straight line. 31 is attached and configured.

Therefore, after adjusting the length of the contact plate 30, the underwater inspection device 10 can be fixed to the columnar structure by clamping with the fixing cylinders 31 from both sides.

The underwater inspection device 10 configured as described above is used by being attached to a remote control device 32 as shown in FIGS. 2 and 3, for example.

The remote control device 32 includes a large truck 33 as a traveling vehicle, and a remote control device is mounted on the truck 33.

A swivel table 34 is mounted in front of the loading platform of the truck 33, and a swivel arm 35 is mounted on the swivel table 34, so that the swivel arm 35 can rotate 360 degrees on a horizontal plane. A folding boom 36 is attached to the tip of the swing arm 35.
Is to be attached, this boom 36,
It is composed of three lower booms 37, a middle boom 38, and an upper boom 39.

These three lower boom 37, middle boom 38, upper boom
39 are connected so as to be rotatable with connecting pins arranged in the horizontal direction, and can be folded from these connecting pins, so that the middle boom 38 and the upper boom 39 are sequentially folded inside the lower boom 37. I have. The telescopic cylinders 40, 41, and 42 are attached between the swing arm 39 and the lower boom 37, between the lower boom 37 and the middle boom 38, and between the middle boom 38 and the upper boom 39, respectively.
Can be expanded and contracted.

A wrist arm 43 is attached to the tip of the boom 36, that is, to the tip of the upper boom 39. As shown in FIGS. 3A and 3B, the wrist arm 43 is composed of two proximal arms 44 and a distal arm 45 that rotate about two axes orthogonal to each other. The proximal arm 44 of the wrist arm 43 is attached to the distal end of the upper arm 39 so as to be rotatable around a horizontal axis, while the distal arm 45 is
Is attached to the distal end of the base arm 40 so as to be rotatable around a rotation axis orthogonal to the rotation axis of the distal arm 45.
It can be turned and turned at the tip of 36.

Therefore, regardless of the position of the boom 36, the wrist arm
The tip position of 43 can be finely adjusted.

With such a boom 36 and a wrist arm 43, the tip of the wrist arm 43 is moved from the track 33 to an arbitrary position,
It can be applied at right angles to the surface to be inspected.

Next, an inspection operation of the underwater columnar structure performed by attaching the underwater structure inspection device 10 to the remote control device 32 will be described.

First, the truck 33 is moved on the quay where the non-inspection surface is located, and the truck 33 is turned forward at right angles to the quay, for example, as shown in FIG. After this, each telescopic cylinder 4
The boom 36 is extended by operating 0, 41, 42 so that the front surface of the inspection device 10 at the tip of the wrist arm 43 faces the underwater cylindrical structure.

After the approximate position is determined in this way, the appearance inspection of the surface to be inspected is performed by the underwater video camera 12 by operating the wrist arm 43 to determine the inspection position.

After this, the inspection device is placed on the surface of the cylindrical structure that is the surface to be inspected.
Operate the wrist arm 43 so as to apply 10 vertically, and apply the four abutment plates 30 whose protrusion amount has been adjusted in advance,
The fixing cylinder 31 is extended and clamped, and fixed to a columnar structure. This time, by operating the hydraulic cylinder 17 of the inspection device 10, the movable table 16 is moved up and down, and the slider 19 is moved within a range of about 90 degrees by the lateral movement motor 22, and the high pressure is brought near the accurate inspection position. Take the water nozzle 28.
Thereafter, high-pressure water is injected from the high-pressure water nozzle 28 to clean the surface to be inspected. In this case, if necessary, the high pressure water nozzle 28
And move it horizontally to keep the area as clean as possible.

After the shelling and surface polishing are completed in this way, the thickness measurement is started.

This thickness measurement is performed by applying five ultrasonic probes 14 to the surface to be inspected, and the pressing force is determined by the fixing mechanism 29 and the boom.
36 reaction force. In addition, when the surface to be inspected has irregularities such as steel sheet pile, it can be dealt with by extending the two slide rods 26, and the measurement can be easily performed. These series of operations are performed by an underwater video camera.
The monitoring is carried out from the land while monitoring by 12, and the measurement results etc. are also collected on the truck 33.

After the measurement of the five points is completed, the ultrasonic probe 14
Is moved laterally along the surface of the cylindrical structure to continue the measurement. When the lateral movement in the inspection apparatus 10 becomes impossible, the inspection operation is continued while operating the fixing mechanism 29, the boom 36, the wrist arm 43, etc. to change the fixing position of the apparatus frame 11 and performing shelling and surface polishing. . In this case, when the boom 36 is moved, the inspection device 10 may not be at a right angle to the surface to be inspected.However, by operating the wrist arm 43, the posture can always be set to a correct position, and the posture is adjusted and then fixed. To do it.

By independently operating the cleaning device and the inspection device provided in the upper and lower stages and the operation monitoring device in this manner, the operation can be performed while constantly monitoring.

Then, a wide range of inspections as shown in FIGS. 4A and 4B can be performed with the track 33 stopped at one place.

If a vacuum suction type discharging device is provided in addition to the shelling and surface polishing device as the cleaning device, it is possible to discharge the removed water without turbidity. Further, a sonic searcher or the like which can detect cracks or the like may be used as the inspection device. Furthermore, it is also possible to attach a sampling device, a repair underwater welding device, a coating device, and the like to the inspection device so that repair can be performed simultaneously with the inspection.

〔The invention's effect〕

As described above in detail with the embodiment, according to the underwater inspection device of the present invention, the contact frame and the fixing mechanism are provided on the device frame concentrically framed with the underwater columnar structure, and the columnar cover is provided. Cleaning equipment and inspection equipment that can be fixed to the inspection surface and that can be moved in the horizontal direction, front and rear direction and up and down direction are provided for cleaning before inspection and subsequent inspection. Can be monitored in the direction of the work monitoring device attached to the device frame, so that the work can be efficiently performed not only when performing inspection by remote control from land, but also when using a diver.

In addition, even when using a diver, remote operation can be performed after fixing the inspection device, so that underwater work can be reduced,
The safety is improved and the problem of securing a few divers is eliminated.

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

[Brief description of the drawings]

The drawings relate to an embodiment of the underwater structure inspection apparatus of the present invention, and FIGS. 1 (A), 1 (B) and 1 (C) are a front view, a plan view and a side view, FIGS. 2 and 3 ( 2A and 2B relate to a remote control device, FIGS. 2 and 3A are front views, FIG. 3B is a plan view, and FIGS. 4A and 4B are remote controls. It is the side view and front view which show the inspection range by an apparatus. 10: Underwater inspection device, 11: Device frame, 12: Underwater video camera, 13: Shellfish and surface polishing device, 14: Ultrasonic probe,
16: mobile table, 19: slider, 24: slider, 28: high-pressure water nozzle, 29: fixing mechanism, 30: contact plate, 31: fixing cylinder, 32:
Remote control device.

 ──────────────────────────────────────────────────続 き Continuing on the front page (72) Inventor Seiji Igarashi 2-1-1 Toyosu, Koto-ku, Tokyo Ishikawa Shima-Harima Heavy Industries Co., Ltd. Tokyo First Plant (72) Inventor Takanobu Miki 2-Toyosu, Koto-ku, Tokyo No. 1 No. 1 Ishikawa Shima-Harima Heavy Industries Co., Ltd. Tokyo First Factory (56) References JP-A-62-35247 (JP, A) JP-A-62-163196 (JP, A) JP-A-62-94500 (JP) JP-A-60-78320 (JP, A) JP-A-48-81833 (JP, U) JP-A-61-21963 (JP, U) JP-A-61-199670 (JP, U) JP-A 62-72298 (JP, U)

Claims (1)

(57) [Claims] An apparatus frame opposed to a cylindrical underwater surface to be inspected is formed in an arc-shaped frame concentric with the surface to be inspected, and positioned on both sides of the apparatus frame by contacting the surface to be inspected. A contact plate is provided, and a fixing mechanism for clamping and fixing the columnar test object is provided. This device can be moved in the horizontal, front-rear, and up-and-down directions within this device frame. An underwater inspection device, wherein an operation monitoring device that can be directed in an arbitrary direction independently of the cleaning device and the inspection device is mounted in the device frame while the device is mounted.