JP3925470B2 - Rehabilitation tube inspection device and rehabilitation tube inspection system using the device - Google Patents

Description

[0001]
BACKGROUND OF THE INVENTION
The present invention relates to a rehabilitation pipe inspection apparatus, and more particularly to an apparatus and method for performing non-destructive inspection of the thickness and the like of a rehabilitation pipe rehabilitated by a rehabilitation method.
[0002]
[Prior art]
Many of the pipes (sewers, water, gas, electric power, communications, other fluid transport pipes, etc.) are installed in a state where they are buried underground. For example, in the case of a sewage pipe embedded in the ground, the sewage pipe deteriorates over a long period of time due to corrosive gas or ground subsidence. As a method of repairing this deteriorated pipe, there is a so-called rehabilitation method. In this method, for example, a resin or other repair material such as FRP (hereinafter referred to as FRP “Fiber Reinforced Plastic”) is inserted into the inner periphery of a deteriorated pipe, and the resin is cured by heat or light, etc. The pipe is rehabilitated by coating with FRP having a predetermined thickness. FIG. 11 illustrates a cross-sectional view of a rehabilitated pipe that is a pipe after rehabilitation. In this figure, the FRP 152 is coated on the inner surface of the pipe main body 150 with a predetermined thickness, and the pipe main body 150 is repaired. The coating thickness of the FRP 152 is determined by calculating the load bearing capacity based on the intrinsic physical property value according to the embedment depth and the pipe diameter.
[0003]
And about the prior art which confirms the thickness etc. of covering parts, such as FRP of a rehabilitation pipe after rehabilitation work, for example, about a rehabilitation pipe with a small diameter of less than 800 mm, visual confirmation with a TV camera etc. Has been done. For large-diameter tubes, a portable ultrasonic flaw detector (see, for example, Patent Document 1) is brought into the tube and checked manually.
[0004]
[Patent Document 1]
Japanese Patent Laid-Open No. 11-337535
[Problems to be solved by the invention]
However, in the above-described inspection method by visual inspection of the rehabilitating tube covering portion using the TV camera in the small diameter rehabilitating tube, although the surface condition inside the rehabilitating tube can be confirmed, it is difficult to confirm the thickness of the covering portion. In addition, the method of manually checking the coating portion by bringing an ultrasonic flaw detector into the piping line is very difficult for small piping because of the condition of the tube diameter. That is, for example, in a rehabilitation pipe having a small diameter of less than 800 mm, a method for quickly and easily inspecting the inner wall portion has not been established.
[0006]
The present invention has been made to solve the above-mentioned problems, and its purpose is to provide a rehabilitation pipe inspection capable of automatically and easily inspecting the thickness of a rehabilitation pipe having a diameter which is difficult to manually check. It is to provide an apparatus and an inspection method.
[0007]
[Means for Solving the Problems]
In order to achieve the above object, the rehabilitation tube inspection apparatus according to claim 1 includes a probe having a probe surface for transmitting and receiving ultrasonic pulses, and moving the probe to move the probe. A probe unit moving mechanism for bringing a surface into contact with the inner wall surface of the rehabilitation tube, a probe unit holding unit provided in the probe unit moving mechanism for holding the probe unit in an angularly displaceable state , and the probe A turning mechanism for turning the probe part in the inner circumferential direction of the rehabilitation pipe by turning a part moving mechanism, an angle detection part for detecting a turning angle of the probe part by the turning mechanism, and the inner wall surface An apparatus main body having an adhesion agent supplying section for supplying an adhesion agent to the probe surface of the probe section before contacting the apparatus, and the apparatus main body is fixed in the rehabilitation pipe. A device fixing mechanism, a traveling mechanism for moving the device main body in the rehabilitation pipe, And position detecting means for detecting the position in the rehabilitating pipe of Okimoto body includes a retention of the angular displacement freely state of the probe unit according to the probe unit holding portion, of concave該探contact portion holding portion A ball bearing having a spherical surface is provided, and the probe portion is fixed to a rotating body having a convex spherical surface attached so as to be in surface contact with the ball bearing, and the probe surface of the probe portion is formed. Is formed as a cylindrical protrusion, and collides with the inner wall surface of the rehabilitation tube before the probe surface when the probe portion moves to the inner wall surface of the rehabilitation tube with an inclination angle greater than a predetermined angle. A cylindrical angle correcting protrusion that corrects a contact angle of the probe by the collision, and the adhesive supply unit supplies a predetermined amount of adhesive on the probe surface. Adhesive feeding mechanism for dropping and adhering to the surface, and the adhesive on the probe surface And having an air supply means for injecting air into the PROBE surface prior to deposition.
[0008]
Thereby, the thickness of the rehabilitation pipe | tube with a small diameter can be test | inspected automatically. In addition, since the inspection can be performed at an arbitrary position in the inner circumferential direction in the rehabilitation pipe, the entire circumferential direction inspection at a predetermined location is possible. That is, it is possible to obtain information on a circular cut at a predetermined location. Furthermore, since it can test | inspect while supplying adhesive agent suitably, many inspections are possible continuously.
[0009]
Further, the probe holding unit can make the probe freely angularly displaceable by the above configuration. That is , since the probe unit is held by the holding unit so as to be angularly displaceable, the probe unit is angle-corrected so as to face the rehabilitation tube inner wall surface at an appropriate angle. That is, the probe part axis is brought close to a state perpendicular to the inner wall surface of the rehabilitation pipe. Therefore, even when the probe is moving in the direction of the inner wall surface with the probe being tilted by the probe moving mechanism, correction is automatically made at a more accurate angle until the probe touches. .
The frictional force when changing the angle of the probe is strong enough to keep the probe in an appropriate angle in the normal state, and the angle is corrected by the collision of the angle correction protrusion with the inner wall of the rehabilitation pipe. It is set to a certain level of strength.
In addition, when the touch part is tilted beyond a predetermined angle, that is, beyond the range in which an appropriate ultrasonic inspection can be performed, the presence of the angle correction protrusion causes the collision with the inner wall surface of the rehabilitation pipe. In other words, the angle correction protrusions exist around the probe surface. Since the probe portion is held by the holding portion so as to be angularly displaceable, the angle of the probe portion is corrected so that the probe portion faces the inner wall surface of the rehabilitation tube at an appropriate angle by the collision of the angle correction protrusion. That is, the probe part axis is brought close to a state perpendicular to the inner wall surface of the rehabilitation pipe. Therefore, even when the probe is moving in the direction of the inner wall surface with the probe being tilted by the probe moving mechanism, correction is automatically made at a more accurate angle before the probe surface comes into contact. .
Moreover, an apparatus main body can be freely moved within a rehabilitation pipe | tube by a traveling mechanism. Further, by providing the position detection means, it is possible to know the apparatus main body inspection position in the rehabilitation pipe, and thereby the inspection position can be confirmed. The traveling device may be either a self-propelled type or a towed type.
Furthermore, since the adhesive agent supply unit has an adhesive agent feeding mechanism that drops and adheres a predetermined amount of adhesive agent onto the probe surface, the adhesive agent is directly supplied onto the probe surface before inspection by the probe unit. Thus, adhesion of the adhesive on the probe surface can be performed well and reliably, and accurate measurement becomes possible.
In addition, the adhesive agent supply unit has an air supply means, which allows the adhesive agent to be supplied onto the probe surface after removing deposits on the probe surface with air. Easy and quick.
[0010]
The rehabilitation pipe inspection system according to claim 2 comprises:
The rehabilitation tube inspection device according to claim 1, a control unit that controls the operation of each part of the rehabilitation tube inspection device from outside the rehabilitation tube, and analysis processing of transmission / reception data of ultrasonic pulse signals of the probe unit And an ultrasonic inspection apparatus. By such a system, it is possible to perform an ultrasonic inspection of the rehabilitation tube while comprehensively confirming it simultaneously.
[0026]
DETAILED DESCRIPTION OF THE INVENTION
Embodiments according to the present invention will be described below in detail with reference to the drawings. Figure 1 shows a device having a test device similar to the outer frame 27 and the outer frame 27 structure according to the present invention, rehabilitating pipe 11 to be inspected, the rehabilitating pipe FRP portion 14 as the covering portion to the existing pipe 15 Is formed. An example of a rehabilitation tube 11 is shown. This inspection apparatus inspects the inside of the rehabilitation tube 11 based on the general principle of ultrasonic flaw detection, detects the transmission of the ultrasonic pulse at the measurement site and the reflection of the transmitted ultrasonic pulse, the time difference, etc. Therefore, the thickness of the inner wall portion is inspected (for example, see Metal Handbook Rev. 5 edition, Maruzen, pages 446 to 450, edited by the Japan Institute of Metals). Further, it is possible to inspect cracks and the like generated in the inner wall portion from the magnitude and waveform of the reflected ultrasonic pulse.
[0027]
In the rehabilitation tube inspection apparatus shown in this figure, a probe section 12 for transmitting and receiving ultrasonic pulses is provided on the front side (left side in the figure) of the apparatus body 10. The probe unit 12 performs an inspection in a state where the probe surface 16 at the distal end surface is in contact with the rehabilitated tube FRP unit 14 that is a covering unit. For this reason, a probe moving mechanism 18 for moving the probe 12 to the surface of the FRP unit is provided. Note that the holding by the characteristic configuration (probe holding unit) of the present invention in which the probe unit 12 is mounted on the probe moving mechanism 18 is shown in FIG. 7 described later.
[0028]
FIG. 2 shows an enlarged view of the probe moving mechanism 18 used in the embodiment of the present invention (note that the configuration around the probe unit 12 is different from that of the embodiment of the present invention. ) The probe unit moving mechanism 18 is composed of air cylinders 20 and 22, each having an extending part 20-a and 22-a that are extended by air pressure, and this part extends in the length direction of the air cylinders 20 and 22. . The probe 12 is held by the extension 20-a of the air cylinder 20 through the joint 19, and the air cylinder 20 is held by the extension 22-a of the air cylinder 22 through the joint 21. Due to the two-stage structure of the air cylinders 20 and 22, the probe 12 moves toward the surface of the rehabilitation pipe FRP 14 as shown by the two-dot chain line in the figure. 16 Ru can contact the rehabilitating pipe FRP portion 14.
[0029]
FIG. 3 is a perspective view showing an outline of the probe moving mechanism 18 shown in FIG. As illustrated, the extending portions 20-a and 22-a have three extending portions 20-a-1 to 23, 22-a-1 to 3 respectively. Of the extension parts 20-a-1 to 23-22-a-1, the extension parts 20-a-2 and 22-a-2 are extended by receiving air pressure, and the other extension parts 20-a- Reference numerals 1, 3, 22-a-1, 3 are guides for stably extending the extending portions 20-a, 22-a. That is, by this guide, the probe unit 12 is linearly extended without bending in the extending direction.
[0030]
Further, in FIG. 1, for probing an arbitrary position inner circumferential direction of the rehabilitating pipe 11 as shown, the pivoting mechanism 30 according to the present invention to pivot the probe unit 12 in the inner circumferential direction of the rehabilitating pipe 11 The configuration is shown . The turning mechanism 30 mainly includes a turning mechanism main body 37 that holds a base 36 that holds the air cylinder 22 and turns the pipe in the inner circumferential direction of the pipe, and a turning motor 42 that turns the turning mechanism main body 37.
[0031]
A gear 38 is provided on the outer periphery of the right side of the turning mechanism main body 37, and a gear 40 that meshes with the gear 38 is provided in the turning motor 42. The turning mechanism main body 37 is attached to the outer frame 27 via a bearing 41 so as to be turnable. As described above, the turning mechanism 30 turns the entire probe moving unit 18 and the probe 12. Further, the turning by the turning mechanism 30 is detected by an angle detection unit (encoder) 46 having a gear 44 that meshes with the gear 38 (see FIG. 1). The operation of the probe unit moving mechanism 18 and the turning mechanism 30 is controlled by an external control unit which will be described later with reference to FIG.
[0032]
FIG. 4 schematically shows a state in which the probe unit 12 is turned from the state indicated by the two-dot chain line by a predetermined angle (turning angle) A as viewed from the upper left in FIG. In this way, the inner wall portion is inspected at an arbitrary angular position in the inner circumferential direction of the rehabilitation pipe. The above-mentioned turning is performed by holding the probe surface 16 and the rehabilitation pipe FRP unit 14 in a non-contact state by the probe unit moving mechanism 18. That is, it is also possible to collect information on the thickness of the rehabilitation pipes in the cut-off state.
[0033]
Further, in FIG. 1, in order to obtain a good ultrasound pulse data, adhesion agent supply unit 24 according to the embodiment of the present invention to provide an adhesion agent directly to the transducer surface 16 is shown ( (See FIG. 1). The adhesive agent supply unit 24 includes an adhesive agent supply device 28 that is attached to the apparatus main body 10 and stores the adhesive agent therein, and an adhesive agent supply tube 26 that has one end connected to the adhesive agent supply device 28. Yes. Further, the contact agent supply unit 24 has an air supply means to be described later. The air supply means includes an air solenoid valve 34 that controls the injection of air from a pump that supplies compressed air from the outside, and the air solenoid valve. An air supply tube 32 having one end connected to 34 is provided.
[0034]
The tips of the adhesive agent supply tube 26 and the air supply tube 32 are arranged so as to be positioned immediately above the probe surface 16 in a predetermined operation state of the probe unit 12. In this embodiment, the predetermined operation state means that the probe unit 12 is directed vertically upward by the operation of the turning mechanism 30 and the air cylinder 20 and the air cylinder 22 are most contracted by the operation of the probe unit moving mechanism 18. (See the state shown in FIG. 1).
[0035]
Further, the adhesive supply tube 26 and the air supply tube 32 are formed of a flexible member such as rubber. Therefore, when the probe unit 12 extends and moves in the extending direction, for example, the direction indicated by the two-dot chain line in the figure, the probe unit 12 may collide with the adhesive supply tube 26 and the air supply tube 32. The two tubes do not become obstacles to movement by bending.
[0036]
The procedure for attaching the adhesive to the probe surface 16 with this configuration is as follows. First, the probe surface 16 is positioned directly below one end of the air supply tube 32 by the above-described operation (see FIG. 1). Then, air is blown from the air supply tube 32 to the probe surface 16 to remove deposits on the probe surface 16. Next, the adhesive agent is dropped onto the probe surface 16 from the adhesive agent supply tube 26. Thereby, the probe surface 16 is covered with the adhesive. The contact agent eliminates a gap generated between the probe surface 16 and the rehabilitating pipe FRP portion 14 when the probe surface 16 is brought into contact with the inner wall of the pipe, and noise of ultrasonic pulses caused by the existence of the gap. It is a general adhesion agent for erasing.
[0037]
Next, in FIG. 1, the traveling mechanism 62 according to the embodiment of the present invention for moving the apparatus main body 10 is illustrated as a wheel 54 shown mostly in dashed lines. The wheel 54 may be driven by a drive motor (not shown) or connected to another moving device and pulled. With the above configuration, the rehabilitation pipe FRP unit 14 is inspected at an arbitrary position.
[0038]
Detection of the location within the rehabilitation pipe of the apparatus main body 10 is performed by measuring the moving distance of the apparatus main body 10, and FIG. 1 shows a distance measuring unit 58 as a position detection means within the rehabilitation pipe according to the embodiment of the present invention. The distance is shown. The distance measuring unit 58 includes a rotating unit 60. The rotating unit 60 is grounded to the inner wall of the rehabilitating pipe FRP unit 14, and the moving distance of the apparatus main body 10 in the rehabilitating pipe 11 is measured by the rotation.
[0039]
Further, in FIG. 1, device fixing mechanism 48 according to an embodiment of the present invention to maintain the apparatus main body 10 in a stable state is shown. The device fixing mechanism 48 includes an outrigger 52 and an outrigger jack 50, and an extending portion 56 of the outrigger jack 50 extends substantially vertically upward and comes into contact with the rehabilitating tube FRP portion 14 with a predetermined contact force.
[0040]
FIG. 5 shows a state where the apparatus main body 10 is regulated by the apparatus fixing mechanism 48 as viewed from the right side of FIG. The extension part 56 of the outrigger jack 50 extends vertically upward and comes into contact with the rehabilitation pipe FRP part 14 as shown by the dotted line in the figure, thereby generating a predetermined contact force.
[0041]
This contact force is transmitted to the outrigger 52 via the joint 51 that supports the outrigger jack 50, and further transmitted to the wheels 54 that support the apparatus main body 10. That is, since a force acts in the direction indicated by the arrow 300 from the outrigger jack extending portion 56 and the wheel 54 to the rehabilitated pipe FRP portion 14, the apparatus main body 10 can be maintained in a stable state. Further, the portion of the wheel 54 that contacts the inner wall of the rehabilitated pipe FRP part 14 is tapered to ensure contact of the wheel 54 with the inner wall of the rehabilitated pipe FRP part 14.
[0042]
FIG. 6 shows an external configuration example of the apparatus main body 10. The apparatus main body 10 configured in this way is inserted into the rehabilitation pipe 11 and the rehabilitation pipe FRP unit 14 is inspected.
[0043]
FIG. 7 is a perspective view of a configuration in which main components of the rehabilitation tube inspection apparatus according to the embodiment of the present invention are shown and the probe surface 16 is brought into contact with the rehabilitation tube FRP part. In the present embodiment, the probe unit 12 is held by the holding unit 68.
[0044]
FIG. 8 is a side view of the configuration shown in FIG. As shown in the figure, the probe unit 12 is fixed to the joint 19 and held by a holding unit 68 that moves up and down so as to be angularly displaceable. The holding portion 68 includes a so-called ball bearing 70 having a concave spherical surface, and a rotating body 72 having a convex spherical surface is fixed to the probe portion 12 on the probe portion side, and both spherical surfaces are in surface contact. It is attached as follows. For ease of explanation in FIG. 8, the rotating body 72 and the probe portion 12 existing inside the ball bearing 70 are shown by solid lines.
[0045]
Further, the probe unit 12 is provided with an angle correcting protrusion 76 at the upper position. In the present embodiment, the angle correcting protrusion 76 is configured as a cylindrical protrusion. What is important is the height position of the tip of the angle correcting protrusion 76, which is set to be slightly lower than the height position of the probe surface 16 of the probe unit 12.
[0046]
In other words, this height position is a position where the angle correction protrusion 76 effectively acts when the probe 12 is beyond a range where the probe 12 is inclined by a predetermined angle or more and an appropriate inspection can be performed. More specifically, when the probe unit 12 is inclined at a predetermined angle or more, first, the angle correction protrusion 76 collides with the rehabilitation tube FRP unit 14, thereby causing the probe unit 12 to be in contact with the rehabilitation tube FRP unit 14. This is a height position where the angle can be corrected so as to face each other at a more appropriate angle.
[0047]
The operation of the embodiment configured as described above will be described below with reference to FIGS. 9 (A) and 9 (B). FIG. 9 is a view showing a state in which the probe unit 12 held by the holding unit 68 is moved to contact with the rehabilitated tube FRP unit 14 by a probe unit moving mechanism 18 (not shown). For example, as shown in FIG. 6A, when the moving direction of the probe unit 12 is deviated by a predetermined amount or more from the direction orthogonal to the contact surface of the rehabilitating tube FRP unit 14, the angle is corrected first. The protrusion 76 and the rehabilitation pipe FRP part 14 collide. Due to this collision, the rotating body 72 turns a predetermined angle with respect to the ball bearing 70 so as to reduce the angle θ, and the angle is corrected. As a result, the probe 16 can finally be accurately inspected.
[0048]
Further, when the inclination angle θ is smaller than a certain amount, that is, when correction is not necessary, the probe surface 16 does not collide with the angle correction projection 76 and the rehabilitation pipe FRP part 14 first, and the renewal pipe FRP part. 14 is contacted. Even in this case, the angle may be slightly corrected by the contact pressure of the probe surface 16. Thus, in the present embodiment, the probe unit 12 can be accurately and reliably brought into contact with the rehabilitation tube FRP unit 14. For ease of explanation, the rotating body 72 and the probe 12 that exist inside the ball bearing 70 and the probe 12 that exists inside the angle correction projection 76 are shown by solid lines.
[0049]
Next, a method for measuring the thickness of the rehabilitation pipe FRP unit 14 using the inspection apparatus according to the present embodiment described with reference to FIGS . 1 and 7 will be described. First, the inspection apparatus ( apparatus body 10 ) is caused to travel in the rehabilitation pipe 11 by the travel mechanism 62 and is moved to the measurement location. After the adhesive agent is automatically supplied to the probe surface 16 from the adhesive agent supply unit 24, the probe unit 12 is rotated in the inner circumferential direction of the rehabilitation pipe 11 by the turning mechanism 30 while the probe is detected by the angle detection unit 46. The turning angle of the touch part 12 is detected. Then, the probe surface moving mechanism 18 brings the probe surface 16 into contact with the rehabilitation pipe FRP unit 14 and measures the thickness of the rehabilitation material coating. After the measurement, the probe 12 is moved backward by the probe moving mechanism 18 and turned in the inner circumferential direction of the rehabilitation pipe 11 by the turning mechanism 30, and the above steps are repeated. Inspection apparatus according to the present embodiment is provided with a holding portion 68 shown in FIG. 7, a good contact state to rehabilitating pipe FRP portion 14 of the transducer surface 16 is rapidly achieved.
[0050]
Next, a rehabilitation pipe inspection system using the above inspection apparatus will be described. Figure 10 uses the apparatus body 10 shown in FIG. 1, it describes the rehabilitating pipe inspection system according to the present invention. As shown in the figure, a control unit 92 that controls the operation of each part of the above-described rehabilitation tube inspection device from the outside of the rehabilitation tube 11, an ultrasonic inspection device 94 that analyzes transmission / reception data of ultrasonic pulse signals of the probe unit, It is equipped with. Further, an oscilloscope 98 that is a visual confirmation device for ultrasonic pulses and a computer 96 for analyzing and processing the ultrasonic pulse data are provided.
[0051]
The procedure for inspecting the inside of the rehabilitation pipe 11 by this system is as follows. First, the apparatus main body 10 is inserted into the rehabilitation pipe 11 and traveled rightward in the figure by a traction device (not shown). At this time, for example, as shown in the figure, a TV camera 88 can be connected to the front of the apparatus main body 10 and run while visually checking the status of the apparatus main body 10. Operation control of the apparatus main body 10 is performed by the control unit 92 via the cord 90 from the outside of the rehabilitation pipe. The transmission of the ultrasonic pulse described above is performed by input from the control unit 92, and the received ultrasonic pulse with respect to the transmitted ultrasonic pulse is converted into an electrical signal by the probe unit 12 (see FIG. 1). 94.
[0052]
Then, ultrasonic data such as a time difference between the transmission pulse and the reception pulse is sent to the computer 96 via the ultrasonic inspection device 94. The distance of movement of the apparatus body 10 in the rehabilitation pipe 11 in the length direction and the inspection angle of the probe section 12 in the inner direction of the rehabilitation pipe are detected by a distance measurement unit 58 and an angle detection unit 46 provided in the apparatus body 10, respectively. And sent to the computer 96 (see FIG. 1). The data sent to the computer 96 is analyzed in the computer 96, and the waveform of the transmitted ultrasonic pulse and the received ultrasonic pulse is checked by an oscilloscope 98. By such a system, it is possible to perform an ultrasonic inspection of the rehabilitation tube while comprehensively confirming it simultaneously. The electric power for operating these devices is mainly supplied from the power supply box 100.
[0053]
The configuration of the present invention is not limited to the configuration of each of the above embodiments, and various modifications can be made within the scope of the gist of the invention. For example, in the present embodiment, the measurement of the movement distance of the apparatus main body 10 is performed by the distance measurement unit 58, but it is also possible to measure the laser distance from the outside of the rehabilitation tube 11. In addition, the inspection object is not limited to the FRP, and it is needless to say that the inspection object can be applied to various rehabilitation pipe coating materials that can be inspected by ultrasonic waves.
[0054]
【The invention's effect】
As described above, according to the rehabilitation pipe inspection apparatus and inspection method according to the present invention, even if the rehabilitation pipe is difficult to check by human means, the thickness of the inner wall portion thereof can be automatically and quickly. Can be inspected. By easily obtaining rehabilitation pipe data in this way, it is possible to contribute to improving the quality of rehabilitation pipe construction.
[Brief description of the drawings]
FIG. 1 is an explanatory view showing an apparatus having an outer frame and an inner frame structure similar to those of an inspection apparatus according to the present invention.
FIG. 2 is an enlarged view of a probe unit moving mechanism used in the embodiment of the present invention .
3 is a perspective view showing an outline of a probe unit moving mechanism shown in FIG . 2. FIG.
[4] PROBE portion and probe unit moving mechanism is a plan view showing an outline of turns.
5 is a plan view showing the operation outline of the equipment fixing mechanism.
6 is a perspective view showing an outline of inserting the apparatus main body shown in FIG . 1 into a rehabilitation pipe and inspecting the rehabilitation pipe FRP portion. FIG.
FIG. 7 is a perspective view of a configuration in which the probe surface of the rehabilitation pipe inspection apparatus according to the embodiment of the present invention is brought into contact with the rehabilitation pipe FRP portion.
8 is a side view of the configuration shown in FIG.
9 is a diagram showing a manner in contact moved to the rehabilitating pipe FRP part by probe unit moving mechanism probe unit held held not shown in the holder.
[10] Using the apparatus main body shown in FIG. 1, it is intended to provide an overview of the inspection system of retreading the inner wall of the present invention.
FIG. 11 is a cross-sectional view illustrating a cross section of a rehabilitation pipe.

Claims (2)

A probe having a probe surface for transmitting and receiving ultrasonic pulses;
A probe moving mechanism for moving the probe to bring the probe surface into contact with the inner wall surface of the rehabilitation tube;
A probe holding unit that is provided in the probe moving mechanism and holds the probe in an angularly displaceable state;
A turning mechanism for turning the probe in the inner circumferential direction of the rehabilitation pipe by turning the probe moving mechanism ;
An angle detector for detecting a turning angle of the probe by the turning mechanism;
An adhesive agent supply unit for supplying an adhesive agent to the probe surface of the probe unit before contacting the inner wall surface;
An apparatus body having
An apparatus fixing mechanism provided in the apparatus main body, and fixing the apparatus main body in the rehabilitation pipe;
A traveling mechanism for moving the apparatus body within the rehabilitation pipe;
Position detecting means for detecting the position of the apparatus body in the rehabilitation pipe;
With
The probe holding unit is held by the probe holding unit in a state where the probe unit can be angularly displaced. The probe holding unit is provided with a ball bearing having a concave spherical surface, and is attached so as to be in surface contact with the ball bearing. It is made by fixing the probe to a rotating body having a convex spherical surface,
Around the probe surface of the probe unit is configured as a cylindrical protrusion, and when the probe unit moves to the inner wall surface of the rehabilitation tube at an inclination angle of a predetermined angle or more, the probe surface A cylindrical angle correction protrusion that has a tip height that collides with the inner wall of the rehabilitation tube first and corrects the contact angle of the probe by the collision;
The adhesion agent supply unit injects a predetermined amount of adhesion agent onto the probe surface and injects air onto the probe surface before depositing the adhesion agent on the probe surface. A rehabilitation pipe inspection device comprising air supply means. The rehabilitation tube inspection device according to claim 1;
A controller that controls the operation of each part of the rehabilitation pipe inspection device from the outside of the rehabilitation pipe;
A rehabilitation tube inspection system comprising: an ultrasonic inspection device that analyzes and transmits transmission / reception data of an ultrasonic pulse signal of the probe section.

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