JP4883395B2 - Trackless pipe inspection system - Google Patents

Description

  The present invention relates to a trackless pipe inspection apparatus that includes a sensor device for various inspections such as corrosion detection of a pipe and can perform various inspections of the pipe by running while adsorbing to the pipe.

  The inner surface of a pipe such as a steel pipe installed in a factory may corrode over time due to retained water inside the pipe. In order to determine such a pipe replacement time and whether or not repair is necessary, a pipe inspection for detecting a corroded portion is necessary. A corrosion detection sensor device using an ultrasonic method or an electromagnetic method is used to detect the corrosion site. However, pipes installed in factories and the like are often in high places, and in order to carry out manual inspection, it is necessary to install a scaffold, which increases costs and at the same time quickly inspects a wide area. Have difficulty.

On the other hand, a method for flaw detection using a trackless pipe inspection apparatus that is mounted with the above-described sensor device for pipe inspection and runs while adsorbed on the pipe is known (for example, see Patent Document 1). In the inspection apparatus described in Patent Document 1, as a trackless traveling mechanism, a magnet roller that is magnetically attracted onto a welded portion of a tube and transmits a driving force is employed to enable circumferential traveling on the tube.
Japanese Patent Publication No. 8-27266

  However, in the above configuration, since it is difficult to turn the tube in the axial direction, there is a problem that it is not easy to move the device in the axial direction of the tube after traveling in the circumferential direction of the tube. . When inspecting a plurality of parts along the axial direction of the tube, the inspection efficiency is not good as a result of the necessity for the operator to move the device by hand.

  FIG. 6 is a schematic view for explaining the problems of the conventional trackless pipe inspection apparatus. In the inspection apparatus described in Patent Document 1, it is also possible to turn the vehicle body by independently driving the left and right wheels 3 'and changing the rotational speed and / or direction of the wheels 3' to the left and right. is there. However, in this case, as shown in FIG. 6 (a), a side slip of the wheel 3 'with respect to the pipe surface (displacement in the direction of the rotation axis of the wheel 3') occurs during turning, so that positioning with high accuracy is possible. Is difficult. In addition, since the wheel 3 'is magnetically attracted to the pipe, it is necessary to slide the wheel 3' against the contact resistance generated by the magnetic attraction force during turning, which causes a problem that the wheel 3 'cannot be turned smoothly. .

  On the other hand, as shown in FIG. 6B, the wheel spacing x in the left-right direction is made larger than the wheel spacing y in the front-rear direction (in FIG. 6B, the vehicle body 2 ′ in FIG. 6A). On the other hand, while having the same wheel space y in the front-rear direction, the wheel space x ′ in the left-right direction is large (x ′> x) illustrating the vehicle body 2 ″), so that the wheel space x ′ is large, Since the moment causing the side slip (the product of the wheel spacing x in the left-right direction and the rotational driving force f of the wheel 3 ′) is also increased, smooth turning is possible as compared with the vehicle body 2 ′ in FIG. However, by turning the vehicle body 2 ″, the left and right direction of the vehicle body 2 ″ having a large wheel interval x ′ is in a state along the circumferential direction of the pipe, so that the vehicle body 2 ″ having a small wheel interval y before the turn. Compared to the state in which the longitudinal direction of the pipe is along the circumferential direction of the pipe Therefore, the distance between the vehicle body 2 ″ and the pipe surface becomes small. The sensor device is often attached below the vehicle body 2 ′ in order to make the gap with the pipe surface as small as possible to increase the sensitivity. In particular, when traveling on a small-diameter pipe having a small radius of curvature, the sensor device may interfere with the pipe and cannot turn.

  6 (a) and 6 (b), in an inspection apparatus having four wheels 3 ', when turning on the pipe, at least one wheel 3' is piped due to the curvature of the pipe. It will rise from the surface. Therefore, the adsorption force with respect to the tube surface of the vehicle bodies 2 ′, 2 ″ is reduced, and there is a possibility that the inspection apparatus falls from the tube.

  For the reasons described above, when the conventional inspection apparatus is moved in the axial direction of the pipe, it is necessary to manually remove the inspection apparatus from the surface of the pipe and then reinstall it at a different position in the axial direction of the pipe. There is a problem that inspection efficiency is poor.

  The present invention has been made in view of such a conventional technique, and an object thereof is to provide a trackless pipe inspection apparatus that can smoothly and stably travel on the pipe surface in the axial direction and the circumferential direction of the pipe.

The trackless pipe inspection apparatus according to the present invention is capable of adsorbing the vehicle body to the pipe through the vehicle body to which the sensor device for pipe inspection is attached, at least four wheels on the front, rear, left and right for moving the vehicle body, and the wheels. A magnetic attraction mechanism, and a grounding surface for the pipe that can be switched between a first state in which all the wheels are directed in the same direction and a second state in which all the wheels are directed in a direction substantially perpendicular to the first state. A steering mechanism that rotates about a rotation axis that is substantially perpendicular to the vehicle, a drive mechanism that can independently rotate each of the wheels, and a wheel that is substantially perpendicular to the grounding surface of the wheel with respect to the vehicle body. A wheel unit that is pivotably mounted about a rotation axis, wherein the drive mechanism is pivotably mounted together with the wheel for each wheel, and the steering mechanism is mounted on the vehicle body. Et The steering motor for each wheel, a drive gear that rotates with the drive shaft of the steering motor, and a position that is arranged coaxially with the rotation shaft of the wheel and that cooperates with the drive gear, And an arcuate gear attached to the wheel unit .

  According to the trackless pipe inspection apparatus having the above-described configuration, the vehicle body can travel while being attracted to the pipe via the wheels by the magnetic attraction mechanism. A sensor device for pipe inspection is attached to the vehicle body, and pipe inspection such as corrosion detection of a pipe under the pipe inspection apparatus can be performed. Then, the steering mechanism rotates the wheel around a rotation axis substantially perpendicular to the ground contact surface with respect to the pipe, and the first state in which all the wheels are directed in the same direction and all the wheels are substantially perpendicular to the first state. Switching to the second state directed in the direction.

Thus, by making all the wheels pivotable in directions substantially perpendicular to each other, the vehicle body can be moved in directions substantially perpendicular to each other without causing the wheels to slide sideways. In addition, by turning all the wheels almost vertically, the vehicle body can be translated without changing its orientation, so that the vehicle body does not tilt and is attached to the lower part of the vehicle body even when traveling on a small-diameter pipe. Interference between the sensor device and the tube surface can be prevented. Therefore, it is possible to smoothly and stably run on the pipe surface in the axial direction and the circumferential direction of the pipe.
In addition, according to the trackless pipe inspection apparatus having the above-described configuration, it is possible to perform steering based on the difference in rotational speed between the left and right wheels in the traveling direction by independently driving the wheels. Therefore, it can be used for correction when the entire inspection apparatus changes its direction or fine adjustment of the traveling direction due to unevenness on the tube surface, frictional resistance, or the like.
Furthermore, according to the trackless pipe inspection apparatus having the above-described configuration, the wheel unit, the wheel, the drive mechanism, and the arcuate gear are attached to the wheel unit. The wheels are driven by the drive mechanism attached to the wheel unit, and rotate around a rotation axis that is substantially perpendicular to the ground contact surface with respect to the tube of the wheel. Thereby, even if it has a steering mechanism, the independent drive mechanism to a wheel is not complicated, and it can drive efficiently. Further, a steering motor provided for each wheel is attached to the vehicle body, and the wheel unit is rotated by the cooperation of a drive gear attached to the steering motor and an arcuate gear attached to the wheel unit. Thereby, reliable rotation of the wheel can be performed with a simple configuration.

  The magnetic adsorption mechanism may be configured as a magnetic adsorption type wheel. Thereby, since it is not necessary to mount a magnetic attraction mechanism separately, the freedom degree which attaches other components, such as a sensor apparatus, can be raised.

  Preferably, the steering mechanism is configured such that a rotation axis of the wheel is substantially at the center in the width direction of the wheel.

  In this case, a position that is substantially in the center in the width direction of the wheel is a rotation axis of the wheel by the steering mechanism. Therefore, when the wheel is switched between the first state and the second state, the position of the ground contact surface between the wheel and the pipe hardly changes, so that the vehicle body hardly moves. Accordingly, the contact resistance due to the rotation can be reduced, the rotation can be performed smoothly, and a constant adsorption force can be maintained between the wheel and the pipe.

  According to the trackless pipe inspection apparatus according to the present invention, by enabling all the wheels to rotate in a substantially vertical direction, the vehicle body can be moved in a substantially vertical direction without causing the wheels to slide sideways. . In addition, by turning all the wheels almost vertically, the vehicle body can be translated without changing its orientation, so that the vehicle body does not tilt and is attached to the lower part of the vehicle body even when traveling on a small-diameter pipe. Interference between the sensor device and the tube surface can be prevented. Therefore, it is possible to smoothly and stably run on the pipe surface in the axial direction and the circumferential direction of the pipe.

  Hereinafter, a preferred embodiment of a trackless pipe inspection apparatus according to the present invention will be described with reference to the accompanying drawings. 1 and 2 are schematic views showing a first state of a trackless pipe inspection apparatus according to an embodiment of the present invention. FIG. 1 is a plan view, FIG. 2 (a) is a side view in the A direction (traveling direction front view) in FIG. 1, and FIG. 2 (b) is a side view in the B direction (traveling direction side view) in FIG. is there. 3 and 4 are schematic views showing a second state of the trackless pipe inspection apparatus according to this embodiment. 3 is a plan view, FIG. 4 (a) is a side view in the A direction (traveling side view) in FIG. 3, and FIG. 4 (b) is a side view in the B direction (traveling direction front view) in FIG. is there.

  As shown in FIGS. 1 to 4, the trackless pipe inspection apparatus 10 according to this embodiment includes a vehicle body 2 to which a pipe inspection sensor device 1 is attached, and four wheels on the front, rear, left and right for moving the vehicle body 2. 3, a magnetic adsorption mechanism 4 capable of adsorbing the vehicle body 2 to the pipe P via the wheel 3, and a first state (FIGS. 1 and 2) in which all the wheels 3 are directed in the circumferential direction of the pipe P All the wheels 3 can be switched to a second state (FIGS. 3 and 4) oriented in the axial direction of the pipe P substantially perpendicular to the first state. And a steering mechanism 5 that rotates about a shaft 31.

  The trackless pipe inspection apparatus (hereinafter also simply referred to as inspection apparatus) 10 of the present embodiment is configured to include a drive mechanism 6 capable of independently rotating and driving each of the four wheels 3.

  More specifically, the vehicle includes a wheel unit 7 that attaches the wheel 3 to the vehicle body 2 so as to be rotatable about a rotation shaft 31 that is substantially perpendicular to the grounding surface of the wheel 3 with respect to the pipe P. The drive mechanism 6 is attached to each wheel 3 so as to be rotatable together with the wheel 3, and the steering mechanism 5 includes a steering motor 51 for each wheel 3 attached to the vehicle body 2 and the steering. A drive gear 52 that rotates together with the drive shaft of the motor 51 and a rotation shaft 31 of the wheel 3 that is arranged coaxially and is attached to the wheel unit 7 so as to be in a position to cooperate with the drive gear 52. An arcuate gear 53 is provided. Note that the inspection apparatus 10 of the present embodiment performs various operations such as rotation (steering) and rotation (advance and / or advance direction fine adjustment) of the wheel 3 and control (start / end operation and the like) of the sensor device 1. However, the illustration and description thereof are omitted.

  According to the inspection apparatus 10 having the above configuration, the vehicle body 2 can travel while being adsorbed to the pipe P by the magnetic adsorption mechanism 4 via the wheel 3. The magnetic attraction mechanism 4 of the present embodiment is a permanent magnet provided on the side of the vehicle body 2. The wheel 3 of the present embodiment is formed by molding a urethane resin in order to ensure a frictional force with the pipe P. In this embodiment, a method of attracting by a permanent magnet different from the wheel 3 is used, but a magnet roller having a magnet built in the wheel 3 may be used. In this case, since it is not necessary to mount a separate magnetic adsorption mechanism, the degree of freedom for attaching other components such as the sensor device 1 can be increased.

  A sensor device 1 for pipe inspection is attached to the vehicle body 2, and various pipe inspections such as corrosion detection of a pipe under the inspection apparatus 10 can be performed. The sensor device 1 according to the present embodiment includes a sensor element group 11 to which 16 sensor elements (such as an ultrasonic transducer and an overflow sensor coil) are attached in parallel to the axial direction of the tube. For example, a width of about 100 mm in the axial direction can be simultaneously inspected.

  Then, the steering mechanism 5 makes the first state (FIG. 1) with all the wheels 3 oriented in the same direction and the second state (FIG. 2) oriented all the wheels 3 in a direction substantially perpendicular to the first state. Can be switched.

  At this time, the steering mechanism 5 is configured such that the rotation shaft 31 of the wheel 3 is substantially perpendicular to the ground contact surface with respect to the pipe P of the wheel 3 and is substantially in the center in the width direction of the wheel 3. .

  In this case, a position that is substantially perpendicular to the ground contact surface of the wheel 3 with respect to the pipe P of the wheel 3 and that is substantially in the center in the width direction of the wheel 3 is the rotation shaft 31 of the wheel 3. Therefore, when the wheel 3 switches between the first state and the second state, the position of the ground contact surface between the wheel 3 and the pipe P hardly changes, so that the vehicle body 3 hardly moves. Accordingly, the contact resistance due to the rotation can be reduced, the rotation can be performed smoothly, and a constant adsorption force can be maintained between the wheel 3 and the pipe P.

  A more specific configuration of the present embodiment will be described. In the present embodiment, the wheel unit 7 is attached with the wheel 3, the drive mechanism 6, and the arcuate gear 53 (configured as a part of the steering mechanism 5). The drive mechanism 6 includes a drive motor 61 provided for each wheel 3 and a drive gear 62 that transmits the power of the drive motor 61 to each wheel 3. The wheel 3 is driven via the drive gear 62 by the drive motor 61 of the drive mechanism 6 attached to the wheel unit 7, and the drive mechanism 6 also rotates with the wheel 3 substantially perpendicular to the grounding surface of the wheel 3 with respect to the pipe P. It rotates around the moving shaft 31. Thereby, even if it has the steering mechanism 6, the independent drive mechanism to the wheel 3 is not complicated, and it can drive efficiently. A steering motor 51 provided for each wheel 3 is attached to the vehicle body 2, and a drive gear 52 attached to the steering motor 51 rotates together with the drive shaft of the steering motor 51. And since this drive gear 52 cooperates with the circular-arc-shaped gear 53 attached to the wheel unit 7, the wheel unit 7 is rotated. Here, the arcuate gear 53 is configured coaxially with the rotation shaft 31 of the wheel 3 (the center of the arc constituting the arcuate gear 53 coincides with the rotation shaft 31). Therefore, the rotation of the arcuate gear 53 allows the wheel 3 to be reliably rotated with a simple configuration.

  In the present embodiment, since the vehicle body 2 is supported by the four wheels 3, the vehicle body 2 can be stabilized, and each of the four wheels 3 can be independently driven to rotate (rotate around the axle). Steering by the difference in rotational speed between the right and left wheels 3 in the traveling direction is also possible. Therefore, it can be used for correction when the vehicle body 2 itself changes its direction or fine adjustment of the traveling direction due to unevenness or frictional resistance on the tube surface.

  Next, an inspection procedure using the inspection apparatus 10 in the present embodiment will be described. FIG. 5 is a diagram for explaining the operation status of the trackless pipe inspection apparatus according to the present embodiment.

  First, the inspection device 10 in the second state is arranged on the pipe P so that the wheels 3 are parallel to the axial direction of the pipe P (see 10-1). It is easily attracted to the pipe P by the permanent magnet of the magnetic attraction mechanism 4 provided in the vehicle body 2. Then, it is moved in the axial direction to a place to be inspected. When the place to be inspected is reached, the wheel 3 is turned 90 degrees so that it can move in the circumferential direction (see 10-2). Thereafter, the pipe P is moved in the circumferential direction and at the same time a corrosion test is performed (see 10-3). As described above, in the present embodiment, since the 16 sensor element groups 11 are provided in a line along the axial direction of the pipe P, the width of the sensor element group 11 can be determined by one movement in the circumferential direction. The range of W can be inspected at a time.

  After moving on the surface of the pipe P while inspecting once or in an arbitrary peripheral range, the wheel 3 is again rotated 90 degrees for axial movement and moved to the next inspection position (10-4). In the same manner, the pipe is moved in the circumferential direction to conduct pipe inspection such as corrosion inspection (see 10-5).

  The movement pitch L in the axial direction may be arbitrary, and the entire surface of the pipe P can be inspected if it moves at a short pitch L, and the rough soundness of the pipe P can be quickly evaluated if it moves at a long pitch L. .

  If a slight shift occurs in the left-right direction while moving in the circumferential direction of the pipe P, fine adjustment is possible by making a difference in the rotational speed of the left and right wheels 3 as described above.

  Thus, by making all the wheels 3 pivotable in the right angle direction, the vehicle body 2 can be moved in the orthogonal direction without causing the wheels 3 to skid. Further, by rotating all the wheels 3 at a right angle, the vehicle body 3 can be translated without changing its direction, so that the vehicle body 2 does not tilt and the vehicle body 2 can be used even when traveling on a small-diameter pipe. Interference between the sensor device 1 attached below and the surface of the tube can be prevented. Therefore, it is possible to smoothly and stably run on the pipe surface in the axial direction and the circumferential direction of the pipe.

  As mentioned above, although embodiment which concerns on this invention was described, this invention is not limited to the said embodiment, For example, the arrangement | positioning aspect of the sensor apparatus 1, the number and arrangement | positioning of the wheel 3, the magnetic adsorption mechanism 4, Various improvements, changes, and modifications can be made without departing from the spirit of the structure of the steering mechanism 5 and the drive mechanism 6 and the like.

It is the schematic (plan view) which shows the 1st state of the trackless type | mold pipe inspection apparatus in one Embodiment which concerns on this invention. It is the schematic (side view) which shows the 1st state of the trackless type | formula pipe | tube inspection apparatus in one Embodiment which concerns on this invention. It is the schematic (plan view) which shows the 2nd state of the trackless type pipe inspection apparatus in this embodiment. It is the schematic (side view) which shows the 2nd state of the trackless type pipe inspection apparatus in this embodiment. It is a figure for demonstrating the operation | movement condition of the trackless type | mold pipe inspection apparatus in this embodiment. It is the schematic for demonstrating the problem of the conventional trackless pipe | tube inspection apparatus.

Explanation of symbols

DESCRIPTION OF SYMBOLS 1 Sensor apparatus 2 Car body 3 Wheel 4 Magnetic adsorption mechanism 5 Steering mechanism 6 Drive mechanism 7 Wheel unit 10 Trackless pipe inspection apparatus 31 Rotating shaft 51 Steering motor 52 Drive gear 53 Arc-shaped gear P Pipe

Claims (2)

A vehicle body with a sensor device for pipe inspection,
At least four wheels on the front, rear, left and right for moving the vehicle body;
A magnetic adsorption mechanism capable of adsorbing the vehicle body to a pipe via the wheel;
Rotating the wheel substantially perpendicular to the ground contact surface with respect to the pipe so as to be switchable between a first state in which all the wheels are directed in the same direction and a second state in which all the wheels are directed in a direction substantially perpendicular to the first state A steering mechanism that rotates about an axis ;
A drive mechanism capable of independently rotating and driving each of the wheels;
A wheel unit for attaching the wheel to the vehicle body so as to be rotatable about a rotation axis substantially perpendicular to a ground contact surface with respect to a wheel tube;
In the wheel unit, the drive mechanism is rotatably attached to the wheel together with the wheel.
The steering mechanism is
A steering motor for each wheel attached to the vehicle body;
A drive gear that rotates with the drive shaft of the steering motor;
A trackless pipe inspection apparatus comprising: an arcuate gear mounted on the wheel unit so as to be positioned coaxially with the rotation shaft of the wheel and cooperating with the drive gear .   The trackless pipe inspection apparatus according to claim 1, wherein the steering mechanism is configured such that a rotation axis of the wheel is substantially at a center in a width direction of the wheel.

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