JP3183092B2 - Self-propelled X-ray film mounting device used for non-destructive inspection - Google Patents

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION The present invention relates to a method for manufacturing a large-diameter pipe weld such as X
The present invention relates to an apparatus for setting an X-ray film on an object to be inspected in nondestructive inspection using a line.

[0002]

2. Description of the Related Art Conventionally, when laying a large-diameter pipe in a tunnel, a scaffold is assembled between the tunnel and the outer surface of the pipe, and operations such as welding and inspection are performed by an operator.
In the nondestructive inspection using X-rays, an operation of setting a film for X-rays on the outer surface of the tube using a scaffold is performed. In such a conventional method, a large tunnel needs to be excavated in order to assemble a scaffold between the ground and the outer surface of the pipe, and civil engineering work for this requires much cost and construction time.

[0003] From such a situation, labor saving of welding and inspection,
Automatic machines are being developed with the aim of speeding up and simplifying. Regarding the non-destructive inspection performed by irradiating the welded part with X-rays from the inside of the pipe, as an automatic machine for setting an X-ray film on the outer surface of the pipe, a rail for moving the apparatus is installed on the outer surface of the pipe in advance, and this rail is used. There has been known a device which moves a traveling device having a plurality of X-ray films built therein using the guide as a guide so that the traveling device can be set at a predetermined position.

Japanese Patent Application Laid-Open No. Sho 62-66146 proposes a non-destructive inspection system using a self-propelled inspection vehicle equipped with a traveling roller with multiple magnets. In this system, the self-propelled inspection car holds the X-ray film pack, moves to the X-ray imaging position while adsorbing to the tube surface by the traveling roller with magnet, and irradiates the X-ray from the X-ray irradiator inside the tube. Then, the X-ray film pack held in the inspection car is exposed, and X-ray photography of the welded portion and the like is performed. And like this one
After each scan, return the inspection car to the operator, collect the X-ray film pack, attach a new X-ray film pack to the inspection car, and move to the next X-ray imaging position X-ray photography is performed by repeating the above-described procedure, whereby a non-destructive inspection of the entire circumference of the tube is performed by X-ray photography.
The self-propelled inspection vehicle is equipped with an industrial television camera for photographing the outer surface of the tube, and the self-propelled inspection vehicle can be driven while monitoring the position of the outer surface of the tube with the television camera.

[0005]

However, of these prior arts, in the method of moving the apparatus along the rail on the outer surface of the tube, it is necessary to install a traveling rail for each welded portion to be inspected, which is costly. And increase the construction period. Also, depending on the material of the pipe, cracks may occur in the pipe due to welding during rail mounting. On the other hand, JP-A-62-6
In the inspection system disclosed in Japanese Patent No. 6146, X-rays are taken while the inspection vehicle holds the X-ray film pack, so that the inspection vehicle is exposed to X-rays, and the magnets of the vehicle body and the traveling rollers are easily deteriorated. In order to avoid this, it is necessary to take measures against deterioration in material and structure. In addition, since the X-ray imaging is performed while the inspection car holds the X-ray film pack, a gap is formed between the X-ray film and the tube surface, so that the quality of the captured X-ray photograph is clear. There is also a problem that lacks.

[0006] Further, in the inspection vehicle, the traveling roller with magnet is attracted to the tube surface so that the traveling surface of the tube can be self-propelled without track. However, in a structure in which a magnet is simply attached to the traveling roller, each traveling roller is attached to the traveling roller. There is a problem that it is difficult to always properly adsorb to the tube surface which is a three-dimensional curved surface, and that the inspection vehicle falls off the tube surface due to insufficient suction during traveling.

Accordingly, a first object of the present invention is to set an X-ray film in a state in which it is in close contact with a tube wall or the like at an X-ray imaging position, and to prevent the apparatus from being exposed to X-rays. It is an object of the present invention to provide a self-propelled X-ray film mounting apparatus that can leave the X-ray film at a radiographic position and retract. A second object of the present invention is to provide a self-propelled X-ray film mounting device that can be appropriately attracted to a wall surface of an object to be inspected such as a tube wall surface by a traveling roller with a magnet and can always stably travel on the wall surface. It is to provide a device. Furthermore, the third object of the present invention is that even if the traveling roller with magnet is not sufficiently adsorbed to the wall surface and falls off from the wall surface,
It is an object of the present invention to provide a self-propelled film mounting device that can prevent the film from falling to the ground.

[0008]

SUMMARY OF THE INVENTION The present invention has been made to achieve such an object, and has the following features. (1) A self-propelled trolley having a plurality of traveling rollers with magnets and capable of traveling while being attracted to a wall surface of an object to be inspected by the traveling rollers with magnets, and a film storage plate having magnets for attracting wall surfaces; A self-propelled X-ray film attachment for use in non-destructive inspection, comprising a plate connecting portion that is vertically movable and detachably connected to the film storage plate, and includes a plate holding device provided on the self-propelled carriage. apparatus.

(2) In the device of (1) above, the self-propelled truck has traveling rollers with magnets for driving at least four wheels in front, rear, left and right, and each traveling roller is configured to be swingable in the width direction of the truck. A self-propelled X-ray film mounting apparatus, wherein at least a traveling roller at a front part or a rear part of a carriage has a suspension mechanism. (3) In the device according to (1) or (2), the self-propelled carriage has a guide for inserting a rope wound in a ring shape around an object to be inspected such as a large diameter pipe. X-ray film mounting device.

[0010]

In the self-propelled X-ray film mounting apparatus according to the first aspect, the X-ray film is stored in the film storage plate in advance, and the film storage plate is detachably connected to the plate connecting portion. At the plate holding device. The self-propelled truck can travel on its outer surface while adsorbing on the wall surface of the object to be inspected (hereinafter, a large-diameter pipe is exemplified by a traveling roller with a magnet), and the film is held by the plate holding device as described above. The user moves to the X-ray imaging position while holding the storage plate. At the X-ray imaging position, the film storage plate held by the plate holding device is lowered onto the tube surface by lowering the plate connecting portion, and the film storage plate is attracted to the tube surface by a wall surface attracting magnet. Thus, the X-ray film can be fixed in a state in which the X-ray film is in close contact with the tube wall surface at the X-ray imaging position.

After the setting of the X-ray film is completed in this way, the connection between the plate connecting portion and the film storage plate is released, and the self-propelled carriage is moved and retracted to a position where it is not exposed to X-rays. In this state, X-ray imaging is performed by the X-ray irradiator inside the tube. After that, the self-propelled trolley is moved again to the previous X-ray imaging position, and the plate connecting portion is connected to the film storage plate. The self-propelled trolley is then moved to a position where the worker can collect the film storage plate.

Further, in the self-propelled X-ray film mounting apparatus according to the present invention, the self-propelled carriage has a traveling roller with magnets for driving at least four wheels in front, rear, right and left, and each traveling roller is a carriage. Swing in the width direction is possible,
And at least the traveling roller at the front of the carriage or the rear of the carriage has a suspension mechanism, so that the four-wheel traveling rollers are always in contact with the pipe wall at right angles, regardless of the curvature or unevenness of the pipe wall, For this reason, the attached magnet reliably adsorbs to the pipe wall surface. Therefore, the number of self-propelled vehicles is 4
Wheel drive enables stable running on the pipe wall without track.

Further, in the self-propelled X-ray film mounting apparatus according to the third aspect, a rope wound in a ring shape around the outer periphery of the large-diameter pipe is inserted into a guide of the self-propelled bogie, and the self-propelled bogie is connected to a rope. Is run in the circumferential direction on the outer surface of the large-diameter pipe while the rope is slid in the guide during the running. Therefore, even if the self-propelled truck falls off the tube wall due to insufficient suction of the traveling roller magnets, the truck only needs to slide down along the rope to the lower side of the large-diameter tube and is held by the rope. Therefore, it does not fall to the ground.

[0014]

1 to 13 show an embodiment of a self-propelled X-ray film mounting apparatus according to the present invention. FIG. 1 is a plan view of the entire apparatus, FIG. 2 is a front view thereof, and FIG. FIG. This device comprises a self-propelled carriage 1 that can travel while being attracted to a pipe wall by a traveling roller with a magnet,
A film storage plate 2 having a magnet for adsorbing a wall,
A plate holding device 3 provided on the self-propelled carriage for holding the film storage plate is provided.

The self-propelled carriage 1 has traveling rollers 4a ₁ , 4a ₂ , 4b ₁ , 4b ₂ as driving wheels on the front, rear, left and right sides of the carriage main body 100 (the body frame of the carriage). 4 and 5 each running rollers _{4 (4a 1, 4a 2,} 4b 1, 4b 2) and shows the details of the drive mechanism, the driving roller 4 a pair of the roller body 5A, 5B axle 6 The roller body of each roller body 5 (5A, 5B) includes a ring-shaped permanent magnet 7 and a steel ring-shaped roller member 8 sandwiching the permanent magnet 7 from both sides. Therefore, the ring-shaped permanent magnet 7 has a structure incorporated concentrically with the running roller 4. The roller surface of each of the roller bodies 5 has a permanent magnet 7 recessed over the entire circumference so that the permanent magnet 7 does not directly contact the tube surface. This is to prevent the permanent magnet 7 from directly breaking on the tube surface and cracking. Further, a rubber material having abrasion resistance such as urethane is provided on the outer peripheral surface of the roller member 8 by burning or bonding, so that the roller member 8 does not scratch the tube surface.

Each of the running rollers 4 is configured to be swingable in the width direction of the bogie via bearings 9a and 9b supporting the axle 6, and the running rollers 4a ₁ and 4a _{2 at the} front of the bogie are connected to a suspension mechanism 15a. It has. This will be described in detail below. First, the traveling rollers 4a ₁ and 4a _{2 at the} front of the bogie will be described.
The traveling axles 6 of the traveling rollers 4b ₁ and 4b _{2 at the} rear of the bogie are rotatably supported by box-shaped bearing bodies 9a and 9b via bearings (not shown).

A pair of bearings 9a respectively supporting the running rollers 4a ₁ and 4a ₂ at the front of the bogie are connected to the bogie main body portion at the rear of the bearings via connecting pins 10 (FIG. 4).
reference). One end of the connecting pin 10 is connected to the bogie main body 1.
00, a pin insertion hole 12 on the bearing body 9a side is externally rotatably inserted in the other end portion side, and a stopper for locking the pin end portion. By providing the member 75, the bearing body 9a can be
Connected to 0. The extension of the axis of the connecting pin 10 intersects the longitudinal center of the axle 6 of the running rollers 4a ₁ , 4a ₂ , so that the bearing 9a is connected to the pivot 1 of the connecting pin 10.
1 can be swung up and down in the vertical direction, and can be swung in the bogie width direction with the center in the longitudinal direction of the axle 6 as the fulcrum.

On the other hand, on the upper part of each bearing 9a, a leg 14 of the traveling roller is erected via a bracket 20 and a pin 13 so as to be able to swing in the longitudinal direction of the bogie. To the carriage body 100 (see FIG. 5). The suspension mechanism 15 is configured by a coil spring 16 interposed between the tip of the leg 14 and the bogie main body 100 side. An upper portion and a lower portion of the coil spring 16 are respectively provided on a shaft portion 17 provided on the bogie main body 100 so as to face the leg portion 14 and an upper end of the leg portion 14. It is locked by flanges 18 and 19 provided at the base end of the shaft portion 17 and the intermediate portion of the leg portion 14, respectively.

The running rollers 4a ₁ and 4a ₂ can be moved up and down with respect to the bogie main body 100 by the suspension mechanism 15, and in response to this up and down movement, the bearing 9a is pivoted about the pivot 11 and the pin 13 as a fulcrum. Since it swings and does not hinder the vertical movement of the running roller, an appropriate suspension action can be obtained. The legs 14 of the traveling rollers 4a ₁ and 4a ₂ are connected to the bogie main body 100 via a coil spring 16 constituting a suspension mechanism, and the bearing 9a is connected to the axle 6
Can be swung in the bogie width direction with the longitudinal center of the axle 6 as a fulcrum, so that the running rollers 4a ₁ and 4a ₂ can deform the coil spring 16 in the longitudinal direction to thereby make the longitudinal center of the axle 6 a fulcrum in the bogie width direction. Rocking is possible.

On the other hand, the traveling rollers 4b ₁ and 4b _{2 at the} rear of the bogie
Are supported by members of the bogie body 100 via pins 21 and 22 so as to be swingable in the bogie width direction (see FIG. 4). Extension of the axis of the pin 21 and 22 is cut with the longitudinal center of the running roller 4b _1, each axle 6 of 4b _2, therefore, the traveling roller 4b _1, 4b ₂ is a longitudinal center of each axle 6 As a fulcrum, swinging in the width direction of the bogie is possible.

The front and rear wheels of the traveling roller 4 are driven by a single motor on each of the left and right sides of the bogie. A sprocket 23 for power transmission is mounted on the axle 6 of each traveling roller 4. (See FIG. 5).
Output shaft 240 of left and right drive motors 24 _A , 24 _B
The bevel gear 25, gear 26, sprocket 27, chain 28, is communicated to the travel through the sprockets 29, 30 and the sprocket 23 roller 4a _1, 4b ₁ and running rollers 4a _2, 4b _2, each driving roller 4 Drive.
By providing separate left and right drive motors,
It is possible to perform steering of the truck by providing a difference in rotational speed of the running rollers 4a ₁ and 4b ₁ and 4a ₂ and 4b ₂ of the right and left.

FIGS. 6 to 9 show the film storage plate 2.
And details of the plate holding device 3. The film storage plate 2 is a component independent of the self-propelled carriage 1, and a film f is mounted on a lower surface thereof. In this embodiment, as shown in FIG. 9, a groove 31 is provided around the lower surface side of the film storage plate 2, and by inserting a peripheral portion of the film f into the groove 31, the film f is transferred to the lower surface of the film storage plate 2. It can be attached to. In this embodiment, as shown in FIGS. 7 and 8, a rubber band 32 is wound around the film storage plate 2 to prevent the film f from falling off. A protective film f 'is provided on the lower surface of the film f mounted on the film storage plate 2 in close contact therewith.

At the center of the upper surface of the film storage plate 2, a columnar projection 33 to be detachably connected to the connecting portion on the plate holding device side is projected via a coil spring 34 for buffering (see FIG. 2). 8). This columnar projection 33
An engagement groove 35 is formed in the circumferential direction on the upper part of the head. Further, on both sides of the projection 33 on the upper surface of the film storage plate 2, magnets 36 (permanent magnets) for fixing the film storage plate 2 to the tube wall surface are provided (see FIG. 7).

The plate holding device 3 has a plate connecting portion 37 for detachably connecting the film storage plate 2 and a holding mechanism 38 for holding the plate connecting portion 37 up and down. The plate connecting part 37
Is a bowl-shaped or tubular main body 39 detachably mounted on a projection 33 protruding from the film storage plate 2, and is attached to a side of the main body 39. The locking rod 40 is configured to move forward and backward and an electromagnetic plunger 41 for operating the locking rod 40. The electromagnetic plunger 41 includes an operating portion 42 (piston) connected to the locking rod 40 and a coil spring 43 for urging the operating portion 42 (see FIG. 8).

The plate connecting portion 37 has a main body 39.
Is fitted to the projection 33 of the film storage plate 2 so that the tip of the locking rod 40 is projected into the body 39 by the electromagnetic plunger 41, and the tip of the locking rod 40 is engaged with the engagement groove 35 of the projection 33. By being combined, it is connected to the film storage plate 2. The main body 39 of the plate connecting portion 37 is connected to the projection 3 when connecting the projection 33.
The lower portion 390 has a skirt-shaped structure so as to make it easier to catch the 3.

As shown in FIGS. 6 and 7, the holding mechanism 38 is provided on a support plate 44 provided on the self-propelled carriage 1.
A pair of guide cylinders 73, a pair of holding shafts 45 fitted in the guide cylinders 73 so as to be vertically slidable, and connecting members 46, 47 for respectively connecting the upper and lower ends of the pair of holding shafts 45.
And the fixing nut 4 attached to the upper connecting member 46
8, a screw shaft 49 rotatably held by a gantry 74 erected on the support plate 44 and a lower portion screwed into the fixed nut 48, a motor 50 for driving the rotation of the screw shaft 49, In order to transmit the driving force of the motor 50 to the screw shaft 49, a transmission mechanism (not shown) including gears and the like is provided on the gantry 74. In the holding mechanism 38, the fixed nut 48 is moved up and down with respect to the screw shaft 49 by rotating the screw shaft 49 by the motor 50, so that the fixed nut 48 is connected to the connecting members 46 and 47 and the holding shaft 45. The integrated plate connecting portion 37 also moves up and down with respect to the carriage body 100.

The lower connecting member 47 and a pair of holding shafts 45 are connected via a coil spring 51 for cushioning, which is provided on the holding shaft 45. That is, the pair of holding shafts 45 are slidably fitted into insertion holes 52 formed in the connecting member 47, and a flange portion 53 for spring locking is provided at an intermediate portion of each holding shaft 45, Each end of the coil spring 51 provided on the holding shaft 45 is engaged with the flange 53 and the upper surface of the connecting member 47. The coil spring 51 is connected to the plate connecting portion 3.
When connecting the projection 7 to the projection 33 of the film storage plate 2, it has a buffering action.

In each of two places on both sides of the bogie main body 100,
Guide 5 for inserting a rope wound around large-diameter pipe p
4 are provided (see FIGS. 1 to 3). FIGS. 5, 10, and 11 show details of each guide 54. Each guide 54 is connected to a guide body 55 fixed to the side of the bogie main body 100, and is turned around the guide body 55 via a pin 56. And a rotating member 57 movably attached. The guide body 55 and the rotating member 57 are respectively provided with semicircular notches 59a,
When the turning member 57 is turned to the guide body 55 side, the notch portions 59a and 59b form a guide hole 58. In addition, a portion (a notch portion 59a) that constitutes a part of the guide hole of the guide body 55
Is formed of an electrically insulating sliding material (for example, ultra-high molecular weight polyethylene) so that the wire ropes w ₁ and w ₂ can slide smoothly in the guide hole 58. .

The guide member 55 is provided with the rotating member 5.
A lock lever 61 for locking the lock lever 7 is rotatably mounted via a pin 62, and the locking step 63 of the lock lever 61 is engaged with the upper end of the rotation member 57, whereby the guide body 55 is locked. The turning member 57 turned to the side can be locked. Lock lever 61 and bogie body 1
A biasing spring 64 for holding the lock lever 61 in the locked state is provided between the side of the spring and the side of the spring. Therefore, in a state where the rotating member 57 is rotated in the direction opposite to the guide body, the wire rope w _{1 is} inserted into the notch 59a.
(Or w ₂ ), the turning member 57 is turned in the direction of the guide main body, and then the turning member 57 is locked by the lock lever 61, whereby the wire rope w
₁ (or w ₂ ) can be inserted into the guide hole 58.

An industrial television camera 65A for photographing a running pipe wall is provided at the front and rear of the self-propelled carriage 1.
~ 65C and the lighting device 66 attached to these television cameras
A to 66C are provided via mounting frames 67 extending forward and rearward of the bogie main body 100 (see FIGS. 1 to 3). Further, as shown in FIGS. 12 and 13,
An inclinometer 6 having a pendulum 69 swingable about a support shaft 70 and a potentiometer 71 (or an encoder) attached to the support shaft 70 on the carriage body 100.
The output from the inclinometer 68 can detect the position of the apparatus in the pipe circumferential direction. Also,
In the figure, reference numeral 72 denotes a control device provided on the bogie main body 100. Control of the self-propelled bogie 1 and the plate holding device 3 is performed by remote control via the control device 72.
The images from the industrial television cameras 65A to 65C and the output from the inclinometer 68 are also sent to the operation panel where the worker is located via the control device 72.

FIG. 14 shows the state of use of the apparatus of the present invention, where x is a butt weld of a large-diameter pipe p, A is a film mounting apparatus of the present invention, and the film mounting apparatus A is a remote control having an operator. And a control panel (not shown). The film mounting device A connects the plate connecting portion 37 to the film storage plate 2 on which the film is mounted at the determined mounting and collecting position of the film storage plate, and holds the plate. At this time, the plate connecting portion 37 is lowered by the holding mechanism 38 of the plate holding device 3, and the main body 39 is externally mounted on the projection 33 protruding from the film storage plate 2. Next, by operating the electromagnetic plunger 41, the tip of the locking rod 40 is
The plate connecting portion 37 is connected to the film storage plate 2 by protruding into the inside of the housing and engaging the engaging groove 35 of the projection 33. When the plate connecting portion 37 is externally mounted on the projection 33 from above, the coil spring 34
And 51 buffer.

Next, the plate connecting portion 37 and the film storage plate 2 connected to the plate connecting portion 37 are raised by the holding mechanism 38 to a position where they do not hinder the running on the tube surface. 4. Move the outer surface of the tube while adsorbing on the tube wall in step 4
To the position where the X-ray irradiator is located). At this time, the front and rear tube surfaces of the self-propelled trolley 1 are photographed by the industrial television cameras 65A to 65C, and the operator operating the operation panel adjusts the self-propelled trolley 1 to the butt weld x while watching the image of the television camera. Control the attitude of Further, the current position of the film mounting apparatus A in the pipe circumferential direction can be known from the data sent from the inclinometer 68, and the apparatus can be accurately moved to the X-ray imaging position.

An angle corresponding to the X-ray imaging position is preset by a digital switch provided on the operation panel, and the angle is automatically adjusted until the difference between the set angle and the data output from the inclinometer 68 becomes 0 °. If the traveling vehicle 1 is caused to travel, automatic positioning of the device can be performed. After moving the film mounting device A to the X-ray imaging position, the plate connecting portion 3 is moved by the holding mechanism 38 of the plate holding device 3.
7 is lowered in the direction of the tube surface, the film storage plate 2 is lowered to the tube surface, and the film storage plate 2 is attracted to the tube surface by the magnet 36 for wall surface adsorption. Thus, the X-ray film f can be fixed in a state in which the X-ray film f is in close contact with the tube surface at the X-ray imaging position.

Next, the connection between the plate connecting portion 37 and the film storage plate 2 is released, and the self-propelled trolley 1 is retracted to a place where it is not exposed to X-rays. That is, by releasing the operation of the electromagnetic plunger 41, the locking rod 40 is released.
Is retracted from the engagement groove 35 of the projection 33 to release the connection between the plate connecting portion 37 and the film storage plate 2. Next, after the plate connecting portion 37 is raised by the holding mechanism 38, the self-propelled carriage 1 is moved to a predetermined retreat position.

After performing X-ray photography using the X-ray irradiator inside the tube, the self-propelled carriage 1 is moved again to the previous X-ray photography position, and the plate connecting portion 37 is connected to the film storage plate 2 in the above-described procedure. I do. Next, by raising the plate connecting portion 37, the film storage plate 2 is peeled off from the tube surface against the attraction force of the magnet 36 for attracting the wall surface, and then the self-propelled carriage 1 is moved to a predetermined film collecting position. Move. The self-propelled carriage 1 includes four-wheel drive traveling rollers 4a ₁ , 4a ₂ , 4b ₁ , and 4b ₂ with magnets, and each traveling roller 4 can swing in the width direction of the carriage. Running rollers 4a ₁ and 4a ₂ of the suspension mechanism 15
, Each traveling roller 4 can always contact the tube surface, which is a three-dimensional curved surface, at a right angle. Therefore, the traveling roller 4 with the magnet is reliably attracted to the tube wall surface, and the self-propelled truck 1
Runs stably on the tube surface.

In mounting and collecting the film storage plate as described above, in order to prevent the device from dropping to the ground and being damaged even if the device is dropped from the tube wall due to insufficient suction of the traveling roller, The carriage 1 travels using a rope wound around the large-diameter pipe p as a guide. That is, the wire rope w ₁ a butt weld x is sandwiched therebetween two wire rope w _1, w ₂ to loosen slightly outer periphery of the large diameter pipe p (film attaching device A in the lower large diameter tube p, even hanging from w ₂ device are turning looseness) winding of a degree that is not grounded. Each of the wire ropes w ₁ and w ₂ is connected to both ends by clips or the like, and is formed into a ring-shaped rope surrounding the large-diameter pipe p. In addition,
The ends of the wire ropes w ₁ and w ₂ may be connected and fixed to a large-diameter pipe.

Each guide 54 provided on the carriage body 100
The wire ropes w ₁ , w ₂ are passed through the guide holes 58 of the vehicle, and in this state, the self-propelled carriage 1 is caused to run in the pipe circumferential direction. During this run,
The wire ropes w ₁ and w ₂ slide in the guide hole 58. Therefore, even if the device falls off from the tube wall due to insufficient suction by the magnets of the traveling roller 4 during traveling, the device only slides down to the lower side of the large-diameter pipe p along the wire ropes w ₁ and w _2. Already, it does not fall to the ground because it is held by the wire ropes w ₁ and w ₂ .

[0038]

According to the X-ray film mounting apparatus of the first aspect, the X-ray film can be fixed in a state in which the X-ray film is in close contact with the wall surface of the X-ray photographing position, so that X-rays with clear image quality can be obtained.
X-rays can be taken, and can be moved to other evacuation positions while leaving only the X-ray film, so that X-ray exposure of the device can be prevented, and special structural and other measures to prevent exposure There is an effect that no special consideration is required.

Further, according to the X-ray film mounting apparatus of the present invention, in addition to the above-mentioned effects, the traveling roller with the magnet is securely attracted to the tube wall or the like, and the tube wall or the like is stably stuck. You can run. Furthermore, X according to claim 3
According to the film mounting device for a wire, in addition to the above effects,
Even if the traveling roller is not sufficiently attracted to the tube surface, it is possible to appropriately prevent the device from falling to the ground and being damaged.

[Brief description of the drawings]

FIG. 1 is a plan view showing an embodiment of an X-ray film mounting apparatus according to the present invention.

FIG. 2 is a front view showing an embodiment of an X-ray film mounting apparatus according to the present invention.

FIG. 3 is a partially cutaway side view showing an embodiment of the X-ray film mounting apparatus of the present invention.

FIG. 4 is a side view showing the support structure and the drive mechanism of the traveling roller in a partially sectioned state in one embodiment of the X-ray film mounting apparatus of the present invention.

FIG. 5 is a front view showing a running roller and its supporting structure in a partially sectioned state in one embodiment of the X-ray film mounting apparatus of the present invention.

FIG. 6 is a front view showing a film storage plate and a plate holding device in a partially sectioned state in one embodiment of the X-ray film mounting device of the present invention;

FIG. 7 is a side view showing a film storage plate and a plate holding device in a partially sectioned and cut-away state in one embodiment of the X-ray film mounting device of the present invention.

FIG. 8 is a side view showing the film accommodating plate and the plate connecting portion in a partially sectioned state in one embodiment of the X-ray film attaching apparatus of the present invention.

FIG. 9 is a cross-sectional view showing a part of a film storage plate in one embodiment of the X-ray film mounting apparatus of the present invention.

FIG. 10 is a plan view showing a guide provided on a bogie main body in one embodiment of the X-ray film mounting apparatus of the present invention.

FIG. 11 is a front view of the embodiment of the X-ray film mounting apparatus according to the present invention, in which a guide provided on the carriage body is partially cut away.

FIG. 12 is a front view showing an inclinometer in one embodiment of the X-ray film mounting apparatus of the present invention.

FIG. 13 is a side view showing the inclinometer in a partially sectioned state in one embodiment of the X-ray film mounting apparatus of the present invention.

FIG. 14 is an explanatory view showing an example of a use situation of the X-ray film mounting apparatus of the present invention.

[Explanation of symbols]

1 ... self-propelled bogie, 2 ... film accommodating plate, 3 ... plate holding device, 4a _1, 4a _2, 4b _1, 4b ₂ ... running rollers, 5A, 5B ... roller body, 6 ... axle, 7 ... permanent magnet,
Reference numeral 8: roller member, 9a, 9b: bearing body, 10: connecting pin, 11: pivot portion, 12: pin insertion hole, 13: pin, 1
4 ... leg, 15 ... suspension mechanism, 16 ... coil spring, 17 ... shaft, 18, 19 ... flange, 20 ...
Brackets 21, 22, ... pins, 23 ... sprockets,
24 _A , 24 _B : drive motor, 25: bevel gear, 26: gear, 27: sprocket, 28: chain, 29, 30
... Sprocket, 31 ... Groove, 32 ... Rubber band, 33
... Projection, 34 ... Coil spring, 35 ... Engagement groove, 36
... magnet, 37 ... plate connecting part, 38 ... holding mechanism, 39
... body, 40 ... locking rod, 41 ... electromagnetic plunger, 4
2. Operating part, 43 ... Coil spring, 44 ... Support plate, 45 ... Holding shaft, 46, 47 ... Connecting member, 48 ... Fixed nut, 49 ... Screw shaft, 50 ... Motor, 51 ...
Coil spring, 52: insertion hole, 53: flange, 5
4 Guide, 55 Guide body, 56 Pin, 57 Rotating member, 58 Guide hole, 59a, 59b Notch,
60 ... member, 61 ... lock lever, 62 ... pin, 63 ...
Locking step, 64 ... Coil spring for biasing, 65A, 6
5B, 65C… TV camera, 66A, 66B, 66C
... lighting device, 67 ... mounting frame, 68 ... inclinometer, 69
... pendulum, 70 ... support shaft, 71 ... potentiometer, 7
2 ... control device, 73 ... guide cylinder, 74 ... stand, 75 ... locking member, 100 ... truck body, 240 ... output shaft, 390 ...
Lower part of main body, A: device of the present invention, p: large-diameter pipe, x: butt weld, f: film, f ': protective film

Continued on the front page (58) Fields surveyed (Int. Cl. ⁷ , DB name) G01N 23/02-23/18 G21K 5/02 G03B 42/02 JICST file (JOIS)

Claims (3)

(57) [Claims] 1. A self-propelled trolley having a plurality of traveling rollers with magnets and capable of traveling while being attracted to a wall surface of an object to be inspected by the traveling rollers with magnets, and a film storage plate having magnets for attracting wall surfaces. A self-propelled X-ray used for non-destructive inspection, comprising: a plate connecting portion that is vertically movable and detachably connected to the film storage plate, and includes a plate holding device provided on the self-propelled carriage. Film mounting device. 2. A self-propelled truck includes traveling rollers with magnets for driving at least four wheels in front, rear, left and right, each traveling roller is configured to be swingable in a width direction of the truck, and traveling at least at a front portion or a rear portion of the truck. 2. The self-propelled X-ray film mounting apparatus according to claim 1, wherein the roller has a suspension mechanism. 3. The non-destructive inspection according to claim 1, wherein the self-propelled vehicle has a guide for inserting a rope wound in a ring shape around an object to be inspected such as a large diameter pipe. Self-propelled X-ray film mounting device used for