JP5512310B2 - Pipe thinning measuring device - Google Patents

Description

The present invention relates to a pipe thinning measuring device that is arranged in a horizontal plane or an inclined plane and measures the thickness of a long-distance pipe having a curved portion.

Pipes for fluid transfer such as liquids and gases used in power plants, chemical plants, city gas supply facilities, sewerage facilities, etc. are regularly inspected for maintenance. However, in pipes that cannot be inspected by direct entry of people into pipes such as pipes buried in the ground, pipes installed in high places, pipes with small pipe diameters (for example, 500 mm or less), A self-propelled measuring carriage equipped with inspection equipment is inserted into the pipe, and inspection is performed while moving in the pipe. At this time, a plurality of wheels projecting radially outward from the side of the measurement carriage are moved in contact with the inner surface of the pipe, thereby maintaining a constant posture (circumferential position) in the pipe of the measurement carriage. The center of the measurement carriage is held on the axis of the pipe (for example, see Patent Documents 1 and 2).

JP-A-06-066562 Japanese Patent Application Laid-Open No. 08-230666

However, in the measurement carriages described in Patent Documents 1 and 2, when the measurement carriage tries to pass the curved portion (elbow portion) in the pipe, it is necessary to slide the wheels obliquely with respect to the rotation direction. However, there is a problem that it is difficult to smoothly pass the curved portion. Further, since the wheels of the measurement carriage slide obliquely with respect to the rotation direction when passing through the bending portion, the circumferential position in the piping of the measurement carriage changes before and after passing through the bending portion. Therefore, when collecting inspection data based on the posture (circumferential position) in the piping of the measuring carriage, the relative circumferential position (relative to the measuring carriage) of the inspection data can be specified, but the absolute position in the pipe There is a problem that a specific circumferential position cannot be specified.

The present invention has been made in view of such circumstances, and can smoothly pass through a curved portion in the pipe, and can maintain an attitude in the pipe of the measurement carriage to make the inspection data absolute in the pipe. An object of the present invention is to provide a pipe thinning measuring device capable of specifying a circumferential position.

A pipe thinning measuring apparatus according to the present invention that meets the above-described object is a measurement carriage inserted into a pipe arranged in a horizontal plane or an inclined plane, and measures the thickness of the pipe provided on the front side of the measurement carriage. A pipe thinning measuring device having a thickness measuring means and a propelling means disposed at the rear part of the measuring carriage to advance the measuring carriage,
The measurement carriage is provided at the center of the cylindrical casing, at least three parallel link mechanisms projecting radially outward from the outer periphery of the cylindrical casing, and radially outward of the parallel link mechanisms. Having omnidirectional moving wheels that are paired in the front-rear direction,
And, in a part of the outer side in the radial direction of the cylindrical casing, a weight for holding the position of the measurement carriage in a certain direction is provided,
The thickness measuring means includes a motor disposed in the cylindrical casing, a sensor holder that is rotationally driven by the motor and disposed at an axial center position of the cylindrical casing, and a thickness measurement that is attached orthogonal to the sensor holder. A sensor,
The propulsion means includes a long flexible member rotatably connected to a rear portion of the cylindrical casing around an axis of the cylindrical casing, and a feed mechanism for inserting the flexible member into the pipe. Have
On the front side of the measurement carriage, a one-rotation detection sensor that detects one rotation of the sensor holder is provided,
The signal line of the thickness measurement sensor is connected to the power line of the motor and the signal line of the one-rotation detection sensor via the first and second slip rings provided before and after the cylindrical casing, respectively. It is accommodated in the cable arrange | positioned inside the said flexible member via the slip ring of this.

In the pipe thinning measuring apparatus according to the present invention, the at least three parallel link mechanisms are fixedly disposed on one side of the front and rear of the cylindrical casing, and moved in the front-rear direction to the other side of the front and rear of the cylindrical casing. A slidably arranged sliding ring, a cross arm whose base part is rotatably connected to the fixed ring and the sliding ring, respectively, provided on the front side of each cross arm, and each of the above-mentioned all on the front and rear sides. It can be set as the structure which has the link plate provided with the direction movement wheel, and the spring which urges | biases the said sliding ring in the direction of the said fixed ring.

In the pipe thinning measuring apparatus according to the present invention, since the measurement carriage moves through the omnidirectional moving wheels, the measurement carriage can move in any direction while maintaining the front-rear direction of the measurement carriage, and the curve in the pipe It can pass through the part smoothly. Since the weight is provided on a part of the cylindrical casing on the outer side in the radial direction, the measurement carriage is inclined in the plane (in the longitudinal section) perpendicular to the axis of the pipe in the pipe, and the weight is placed in the pipe. If it does not face the lowermost position, due to the gravity applied to the weight, a rotation moment that rotates around the central axis of the cylindrical casing is generated in the measurement carriage so that the weight is opposed to the lowest position in the pipe. In addition, the inside of the pipe can be moved in the circumferential direction via the omnidirectional moving wheel, and the inclination of the measuring carriage can be eliminated. As a result, the posture (circumferential position) of the measurement carriage in the pipe is maintained in a certain direction.

In the pipe thinning measuring apparatus according to the present invention, at least three parallel link mechanisms are arranged so as to be movable in the front-rear direction on the other side of the cylindrical casing and the fixing ring fixedly arranged on one side of the cylindrical casing on the front and rear sides. Slidable ring, a cross arm whose base part is rotatably connected to the fixed ring and the slidable ring, provided on the front side of each cross arm, and provided with omnidirectional wheels on both the front and rear sides. When it has a link plate and a spring that biases the sliding ring in the direction of the fixed ring, the axis of the cylindrical casing can be easily moved to the center of the pipe with a simple structure when the measuring carriage is inserted into the pipe. Can hold.

In pipe thinning measuring apparatus according to the present invention, the front side of the measuring carriage, since one rotation sensor for detecting a rotation of the sensor holder are provided, one revolution of the thickness measuring sensor from the signal of one rotation detection sensor Thus, the circumferential position of the inspection data obtained by the thickness sensor can be specified.

In pipe thinning measuring apparatus according to the present invention, the propulsion means comprises a flexible member rotatably linked long to the rear of the cylinder casing about the axis of the cylindrical casing, the flexible member pipe Since it has a feeding mechanism to be inserted into it , it is possible to prevent the twisted state of the flexible member from being transmitted to the measurement carriage with a simple configuration, and the measurement carriage can be moved smoothly along the inner surface of the pipe. To the target measurement position.

In pipe thinning measuring apparatus according to the present invention, the motor power line, a signal line of the thickness measurement sensor, and a cable including a signal line of a rotation detecting sensor, because it is housed in the flexible member, There is no risk of the cable getting caught in the measuring carriage and hindering its travel.

It is explanatory drawing of the use condition of the pipe thinning measuring apparatus which concerns on one embodiment of this invention. It is a partially omitted side view of the pipe thinning measuring apparatus. It is explanatory drawing of the omnidirectional movement wheel of the same pipe thinning measuring apparatus. It is a sectional side view which shows the structure in the cylindrical casing of the same pipe thinning measuring apparatus.

Next, embodiments of the present invention will be described with reference to the accompanying drawings for understanding of the present invention.
As shown in FIGS. 1 to 3, a pipe thinning measuring apparatus (hereinafter also simply referred to as a measuring apparatus) 10 according to an embodiment of the present invention is provided in a pipe 11 disposed in a horizontal plane or an inclined plane. The measurement carriage 12 to be inserted, the thickness measurement means 13 for measuring the thickness (thickness) of the pipe 11 provided on the front side of the measurement carriage 12, and the propulsion means arranged at the rear part of the measurement carriage 12 to advance the measurement carriage 12 14, after the measurement carriage 12 is inserted into the pipe 11 and moved to the target measurement position, the thickness of the pipe 11 is measured while the measurement carriage 12 is pulled out from the pipe 11. . Hereinafter, the direction in which the measurement carriage 12 is inserted into the pipe 11 (the direction opposite to the pull-out direction) will be described in detail as the traveling direction (forward) of the measurement carriage 12.

The pipe 11 is configured by combining a straight portion 15 and a bent portion 16. Note that the piping to be measured is not limited to this configuration, and for example, it may be configured only by a straight portion, or may be configured by a wave shape only by a bent portion. Here, the pipe 11 has, for example, an inner diameter of about 50 mm or more and 500 mm or less and a length of 30 m or more (mainly 50 m or more, and further 70 m or more). In addition, since the measuring apparatus 10 is suitable for the measurement of long-distance piping, the upper limit value of the length is not specified, but is, for example, about 200 m or less (mainly 150 m or less, and further 120 m or less). .

As shown in FIGS. 1 and 2, the measurement carriage 12 includes a cylindrical casing 17 disposed at the center, three parallel link mechanisms 18 projecting radially outward from the outer peripheral portion of the cylindrical casing 17, and each parallel carriage. It has the omnidirectional moving wheel 19 which becomes the front-back pair provided in the radial direction outer side of the link mechanism 18. Further, a rod-shaped weight 20 that holds the circumferential position of the measurement carriage 12 in a certain direction is provided on a part of the outer side in the radial direction of the cylindrical casing 17 (a portion that is the lowest position on the outer periphery of the cylindrical casing 17). It is provided along the axial direction (front-back direction).

Here, the measuring carriage 12 is made of a metal (for example, stainless steel or aluminum alloy) or plastic (for example, fiber reinforced plastic) having corrosion resistance, and is lightweight (for example, about 3 kg or less, further about 1 kg or less). The total length (the length of the cylindrical casing 17) is about 30 cm or less, and further about 15 cm or less. On the other hand, the weight 20 is formed of a metal having a high specific gravity and corrosion resistance (for example, stainless steel), and its weight is, for example, 0.5 to 3 times the weight of the measurement carriage 12.

The three parallel link mechanisms 18 include a fixing ring 21 fixed in an annular shape around one side (for example, the front side) of the front and rear of the cylindrical casing 17 and a peripheral surface of the other side (rear side) of the front and rear of the cylindrical casing 17. And a cross ring 23 that is movable in the front-rear direction, a cross arm 23 whose base is rotatably connected to the fixed ring 21 and the slide ring 22, and a front side of each cross arm 23. A link plate 24 provided with omnidirectionally moving wheels 19 on both the front and rear sides, and a tension spring (an example of a spring) 25 that urges the sliding ring 22 in the direction of the fixed ring 21 are provided. The cross arm 23 is of a pantograph type having a main rod 26 and two guide rods 27 and 28 which are arranged in an X shape when viewed from the side.

The two guide rods 27 and 28 are arranged to face each other so as to sandwich the main rod 26 from both sides in the width direction, and the intersecting portions thereof are screwed and fixed so as to be rotatable. The base portion of the main rod 26 is rotatably attached to the fixed ring 21, and the base portions of the two guide rods 27 and 28 are rotatably attached to the sliding ring 22. Here, the parallel link mechanisms 18 are provided at equal intervals around the cylindrical casing 17, but may be provided at different intervals. The parallel link mechanism 18 is provided in three sets for holding the cylindrical casing 17 at the axial center position of the pipe 11, but may be four sets or more (the upper limit is about eight sets). The link plate 24 includes two plate portions 30 and 31 that are opposed to each other and rotatably hold the axle 29 of the omnidirectional moving wheel 19 on both the front and rear sides. The tip portion of the main rod 26 is disposed between the opposed plate portions 30 and 31, and is attached so as to be movable in the long holes 32 formed in the plate portions 30 and 31. Further, the tip portions of the guide rods 27 and 28 are rotatably attached so as to sandwich the plate portions 30 and 31 from the outside.

Hook portions 33 and 34 are provided on both sides of the tension spring 25 that urges the sliding ring 22 in the direction of the fixing ring 21, and one hook portion 33 is screwed to the fixing ring 21. The hook portion 34 on the other side is hooked on the engaging portion 36 screwed to the sliding ring 22. In addition, the tension spring 25 is arrange | positioned one by one between the cross arms 23 adjacent to the circumferential direction of the cylindrical casing 17 (here, a total of three). However, you may arrange | position to the one part (a total is 1 or 2), and may arrange | position two or more between adjacent cross arms.

As described above, each cross arm 23 is attached to the fixing ring 21 and the sliding ring 22, so that it can expand and contract in synchronization with the radial direction of the pipe 11. Specifically, when the link plate 24 moves from the position of the solid line shown in FIG. 2 to the position of the two-dot chain line, the tip of the main rod 26 moves along the long holes 32 of the plate portions 30 and 31 and the measurement carriage. 12 move to the rear side. At this time, since the sliding ring 22 moves to the rear side of the measuring carriage 12 so that the interval S1 between the fixing ring 21 and the sliding ring 22 is widened, the position of the other link plate 24 is also changed in synchronization. . In this state, a force (compression force) in the direction of contraction is applied to each tension spring 25. This force can be adjusted by changing the screwing positions of the engaging portions 35 and 36 for attaching the respective tension springs 25 to the fixing ring 21 and the sliding ring 22. Therefore, when the measurement carriage 12 is inserted into the pipe 11, each link plate 24 tends to spread in synchronization with the radially outer side of the pipe 11, so that the axial center of the cylindrical casing 17 is arranged at the axial center position of the pipe 11. it can.

As shown in FIG. 3, the omnidirectional wheel 19 is formed with a shaft hole 37 through which the axle 29 is inserted in the center, and a rotating body 38 attached to each of the front and rear sides of the link plate 24 via the axle 29. It has a plurality of barrel-shaped small rotating bodies 39 arranged in an annular shape with a gap along a circumference concentric with the center of the shaft hole 37 in a non-contact state with the outer edge of the body 38. Further, the omnidirectional moving wheel 19 is provided on the outer edge of the rotating body 38 so as to be fitted in each gap formed between the small rotating bodies 39, and each small rotating body 39 is provided with the rotating body 38 (axle 29). ), A small rotating body support portion 40 is rotatably supported in a direction orthogonal to the rotation direction.

With such a configuration, a plurality of small rotators 39 that can rotate around an axis perpendicular to the axle 29 can be arranged around the rotator 38 that can rotate around the axle 29. The omnidirectional moving wheel 19 can rotate in any direction. In addition, since the small rotary body 39 needs to be comprised with the material which is hard to slip from the inner surface 41 of the piping 11, it is preferable to comprise for example 6 nylon (PA6) called MC nylon (trademark). However, it is not limited to this, For example, the thing made from rubber | gum or a plastic can also be used. For the omnidirectional moving wheel 19, for example, an omni wheel described in Japanese Patent No. 3346996 can be used.

The plurality of small rotators 39 provided outside the rotator 38 are integrally rotated around the rotator 38 (axle 29), whereby the measuring carriage 12 can move in the pipe 11 in the axial direction. . In addition, each small rotating body 39 that contacts the inner surface 41 of the pipe 11 rotates around an axis orthogonal to the axle 29, so that the measurement carriage 12 moves in the circumferential direction (perpendicular to the axial direction of the pipe 11). Direction). When the measurement carriage 12 is inserted into the pipe 11, the measurement carriage 12 is tilted in the plane (in the longitudinal section) orthogonal to the axis of the pipe 11 (the lowermost position on the outer peripheral portion of the cylindrical casing 17). When the weight 20 attached to the pipe 11 does not oppose the lowest position in the pipe 11), a rotational moment that rotates around the central axis of the cylindrical casing 17 is generated in the measurement carriage 12 due to the gravity applied to the weight 20. The measurement carriage 12 moves in the circumferential direction in the pipe 11 via the omnidirectional moving wheel 19 so that the weight 20 faces the lowermost position in the pipe 11 to eliminate the inclination of the measurement carriage 12. As a result, the posture (circumferential position) of the measurement carriage 12 is held in a certain direction in the pipe 11.

As shown in FIG. 4, the thickness measuring means 13 is arranged at the axial center position of the cylindrical casing 17 that is driven by the geared motor 42 and the geared motor 42 that is an example of a motor arranged in the cylindrical casing 17. The sensor holder 43 and an ultrasonic probe 44 which is an example of a thickness measuring sensor attached orthogonally to the sensor holder 43 are provided. Here, a front lid portion 45 having a circular cross section is fitted on the front side of the cylindrical casing 17, and a rear lid portion 46 including a projecting portion 61 having a circular cross section and a reduced diameter on the rear portion is fitted on the rear side. Motor pressers 47 and 48 are arranged between the geared motor 42 and the front lid portion 45 and between the geared motor 42 and the rear lid portion 46, respectively. 42 is positioned.

A sensor holder 43 is provided on the output shaft 49 of the geared motor 42 via a coupling 50 and a rotating shaft 51. The sensor holder 43 is screwed to the front portion of the rotating shaft 51 and is provided so as to protrude forward of the cylindrical casing 17, and is at the front center position of the measurement carriage 12. An ultrasonic probe 44 is attached and fixed to the sensor holder 43 in a state of being orthogonal to each other through a probe cover 52. As a result, the ultrasonic probe 44 can be rotated by rotationally driving the sensor holder 43 by the geared motor 42.

Further, a well-known slip ring (first slip ring) 53 is provided in front of the coupling 50, and a signal cord (not shown) in the cylindrical casing 17 passes through the slip ring 53 to rotate the rotating shaft 51. And is connected to the ultrasonic probe 44 through the inside of. Here, the slip ring 53 is mounted in the cylindrical casing 17 by a ring presser 54. In FIG. 4, reference numerals 55 and 56 denote O-rings that prevent water from entering the cylindrical casing 17.

As shown in FIGS. 1 and 2, an arm member 57 is provided at the base of the sensor holder 43 so as to be orthogonal to the rotation axis of the sensor holder 43 and in parallel with the ultrasonic probe 44. A hall element 58 is attached to the front end face of the weight 20, and a magnet 59 is attached to the front side of the arm member 57 at a position facing the hall element 58, thereby forming a one-turn detection sensor 60. Thus, each time the magnet 59 passes in front of the hall element 58, an output signal is generated from the hall element 58, and one rotation of the arm member 57 can be detected.

Further, since the arm member 57 and the ultrasonic probe 44 rotate synchronously via the sensor holder 43, one rotation of the ultrasonic probe 44 is detected by detecting one rotation of the arm member 57. be able to. Further, since the detection unit of the ultrasonic probe 44 and the magnet 59 attached to the front side of the arm member 57 are on opposite sides (180 ° position) across the center of the sensor holder 43, the pipe 11 is cut vertically. When the magnet 59 is in the lowest position in the plane (the magnet 59 passes in front of the Hall element 58), the detection portion of the ultrasonic probe 44 is at the uppermost position (position facing the uppermost position in the pipe 11). You can see that Note that a distance sensor (for example, a rotary encoder) (not shown) that measures the travel distance of the measurement carriage 12 is also attached to the measurement carriage 12.

As shown in FIGS. 1, 2, and 4, the propulsion means 14 is connected to the rear portion of the cylindrical casing 17 through a slip ring (second slip ring) 62 so as to be rotatable around the axis of the cylindrical casing 17. The long flexible member 63 is disposed outside the inlet of the pipe 11 and has a delivery mechanism (not shown) for inserting (sending out) the flexible member 63 into the pipe 11. Here, for example, a flexible hose (resin hose, FRP hose, etc.), a wire, or the like can be used as the flexible member . Further, when the pipe is composed of a straight portion, a rod can be used. In the flexible member 63, a cable including a power line of the geared motor 42, a signal line of the ultrasonic probe 44, and a signal line of the one-rotation detection sensor 60 is accommodated. Each signal line is connected to a control device (for example, a computer) or a power source (not shown) having a calculation unit that outputs a damage status for each position of the pipe 11.

The slip ring 62 includes a first connecting portion 65 having a circular cross section that is rotatably connected via a bearing 64 that is externally mounted on the protruding portion 61 of the rear lid portion 46, and a fastening member (for example, , A second connecting portion 66 having a circular cross section fixed through a screw) and a male screw portion formed at the rear portion of the second connecting portion 66, the front side is screwed, and the distal end of the flexible member 63 is connected to the rear portion. And a connecting member 67 to which the portion is fixed. With such a configuration, the measuring carriage 12 to the flexible member 63 is transmitted to the pipe 11 when moving in the pipe 11, also flexible member 63 is twisted relative to the measuring carriage 12 The first connecting portion 65 can be rotated outside the protruding portion 61 via the bearing 64, and the influence of twisting of the flexible member 63 can be prevented from being transmitted to the measurement carriage 12.

Then, the pipe thinning measuring method using the pipe thinning measuring apparatus which concerns on one embodiment of this invention is demonstrated.
First, as shown in FIG. 2, the flexible member 63 of the propulsion unit 14 is connected to the measurement carriage 12 in the vicinity of the pipe 11 to be measured, and the pipe thinning measuring apparatus 10 is assembled. Next, each wire constituting the above-described cable is connected to a control device, a power source, and the like. Thereby, the measurement preparation by the pipe thinning measuring apparatus 10 is completed. Next, the measuring carriage 12 provided with the thickness measuring means 13 is inserted into the pipe 11. At this time, the compressive force of the tension spring 25 is adjusted in advance by the engaging portions 35 and 36 so that each omnidirectional wheel 19 provided on the measurement carriage 12 presses the inner surface 41 of the pipe 11. Thereby, the rotation center of the output shaft 49 of the geared motor 42 can be matched with the axial center position of the pipe 11.

Then, the flexible member 63 is inserted into the pipe 11 via a delivery mechanism (not shown). As a result, a propulsive force is applied to the measurement carriage 12, and the rotating body 38 of the omnidirectional moving wheel 19 rotates around the axle 29, whereby a plurality of small rotating bodies 39 provided outside the rotating body 38 rotate. It rotates integrally with the body 38 around the axle 29, and the measurement carriage 12 can be moved in the pipe 11 along the axial direction to the starting point of the measurement range. The distance to the starting position can be detected by a signal from a distance sensor provided on the measurement carriage 12 but can also be detected from the length of the flexible member 63 inserted into the pipe 11.

Then, when it is detected that the measurement carriage 12 has moved to the target measurement position, the insertion of the flexible member 63 into the pipe 11 is stopped. When the measurement carriage 12 is stopped, if the measurement carriage 12 is inclined in a plane perpendicular to the axis of the pipe 11 (longitudinal section), the gravity axis applied to the weight 20 causes the measurement carriage 12 to have a central axis of the cylindrical casing 17. A rotational moment is generated around the pipe 11 and the measuring carriage 12 moves in the circumferential direction in the pipe 11 via the omnidirectional moving wheel 19 so that the weight 20 faces the lowest position in the pipe 11. As a result, the inclination of the measurement carriage 12 is eliminated. Further, when the geared motor 42 of the measurement carriage 12 is operated, the ultrasonic probe 44 is rotated while the distance S2 between the detection portion of the ultrasonic probe 44 and the inner surface 41 of the pipe 11 is maintained substantially constant. Can be made.

Then, the thickness of the pipe 11 is measured by the ultrasonic probe 44 of the measurement carriage 12 while the flexible member 63 connected to the measurement carriage 12 reaching the starting position is pulled out from the inside of the pipe 11. The flexible member 63 is preferably pulled out from the pipe 11 automatically at a constant speed using a winder or the like, but may be performed by an operator. Thereby, even if it is long distance piping, the thickness can be efficiently measured from the inside of piping with sufficient workability. When the measurement carriage 12 is moved while the flexible member 63 is pulled out from the pipe 11 and the measurement carriage 12 is inclined in the longitudinal section of the pipe 11, the measurement carriage 12 has a central axis of the cylindrical casing 17. Rotation moment is generated around the pipe 11, and the measurement carriage 12 moves in the axial direction in the pipe 11 through the omnidirectional moving wheel 19 so that the bottom part faces the lowest position in the pipe 11. The inclination of the measuring carriage 12 is eliminated by moving the inside in the circumferential direction. Thereby, when the measurement carriage 12 moves in the pipe 11, the posture (circumferential position) of the measurement carriage 12 in the pipe 11 is kept constant.

When the magnet 59 is detected by the one-rotation detection sensor 60, the detection unit of the ultrasonic probe 44 is at a position facing the uppermost position in the pipe 11, and thus the magnet 59 is detected by the one-rotation detection sensor 60. The detection unit of the ultrasonic probe 44 moves from the position facing the uppermost position in the pipe 11 to the lowermost position and returns to the uppermost position in the pipe 11 again while the magnet 59 is detected. Will come. Therefore, the inspection data obtained while the magnet 59 is detected by the one-rotation detection sensor 60 and then detected by the magnet 59 passes from the uppermost position in the pipe 11 to the uppermost position and returns to the uppermost position. This corresponds to the change in the wall thickness in the circumferential direction of the pipe 11 obtained so far.

Here, when the ultrasonic probe 44 is rotated at a constant speed, the time from when the magnet 59 is detected by the one-rotation detection sensor 60 until the next detection by the magnet 59 is a fixed time T. When time t has elapsed since the magnet 59 was detected by the rotation detection sensor 60, the magnet has rotated 360 t / T degrees from the lowest position in the pipe 11. Accordingly, the detection unit of the ultrasonic probe 44 is rotated by 360 t / T degrees from the uppermost position, and when an elapsed time t after the magnet 59 is detected by the single rotation detection sensor 60 is obtained, the ultrasonic probe is detected. The absolute angular position in the circumferential direction (based on the highest position in the pipe 11) in the pipe 11 where the detection part of the contact 44 faces (thickness measurement is performed) is known.

On the other hand, the distance moved in the axial direction of the pipe 11 from the starting position of the measurement range is known from a distance sensor provided on the measurement carriage 12. For this reason, by combining the distance from the starting position when the inspection data is obtained and the circumferential angle position with the uppermost position in the pipe 11 as a reference, the three-dimensional meat of the pipe in the measurement range is obtained. The thickness distribution can be obtained accurately.

As described above, the present invention has been described with reference to the embodiment. However, the present invention is not limited to the configuration described in the above embodiment, and the matters described in the scope of claims. Other embodiments and modifications conceivable within the scope are also included.
For example, the case where the pipe thinning measuring apparatus of the present invention is configured by combining some or all of the above-described embodiments and modifications is also included in the scope of the right of the present invention.
And in the said embodiment, although the case where the parallel link mechanism was equipped with the pantograph type cross arm was demonstrated, it is the structure which can arrange | position the output shaft of the motor which rotates a thickness measurement sensor in the axial center position of piping. If there is, it is not limited to this configuration.
Further, in order to detect one rotation of the sensor holder, the one rotation detection sensor is formed by using the Hall element and the magnet, but an encoder can be used as the one rotation detection sensor.

10: Piping thinning measuring device, 11: Piping, 12: Measuring carriage, 13: Thickness measuring means, 14: Propulsion means, 15: Straight part, 16: Bent part, 17: Cylindrical casing, 18: Parallel link mechanism, 19 : Omnidirectional moving wheel, 20: weight, 21: fixed ring, 22: sliding ring, 23: cross arm, 24: link plate, 25: tension spring, 26: main rod, 27, 28: guide rod, 29: Axle, 30, 31: Plate part, 32: Long hole, 33, 34: Hook part, 35, 36: Engagement part, 37: Shaft hole, 38: Rotating body, 39: Small rotating body, 40: Small rotating body Support part, 41: inner surface, 42: motor with gear, 43: sensor holder, 44: ultrasonic probe, 45: front lid part, 46: rear lid part, 47, 48: motor presser, 49: output shaft, 50: coupling, 51: rotating shaft, 52: Toucher cover, 53: slip ring, 54: ring presser, 55, 56: O-ring, 57: arm member, 58: hall element, 59: magnet, 60: 1 rotation detection sensor, 61: protrusion, 62: slip Ring, 63: Flexible member , 64: Bearing, 65: First connecting portion, 66: Second connecting portion, 67: Connecting member

Claims (2)

A measuring carriage inserted into a pipe arranged in a horizontal plane or an inclined plane, a thickness measuring means provided on the front side of the measuring carriage to measure the thickness of the pipe, and arranged at the rear part of the measuring carriage, A pipe thinning measuring device having propulsion means for advancing the measuring carriage,
The measurement carriage is provided at the center of the cylindrical casing, at least three parallel link mechanisms projecting radially outward from the outer periphery of the cylindrical casing, and radially outward of the parallel link mechanisms. Having omnidirectional moving wheels that are paired in the front-rear direction,
And, in a part of the outer side in the radial direction of the cylindrical casing, a weight for holding the position of the measurement carriage in a certain direction is provided,
The thickness measuring means includes a motor disposed in the cylindrical casing, a sensor holder that is rotationally driven by the motor and disposed at an axial center position of the cylindrical casing, and a thickness measurement that is attached orthogonal to the sensor holder. A sensor,
The propulsion means includes a long flexible member rotatably connected to a rear portion of the cylindrical casing around an axis of the cylindrical casing, and a feed mechanism for inserting the flexible member into the pipe. Have
On the front side of the measurement carriage, a one-rotation detection sensor that detects one rotation of the sensor holder is provided,
The signal line of the thickness measurement sensor is connected to the power line of the motor and the signal line of the one-rotation detection sensor via the first and second slip rings provided before and after the cylindrical casing, respectively. The pipe thinning measuring apparatus is housed in a cable arranged inside the flexible member via a slip ring . 2. The pipe thinning measuring apparatus according to claim 1, wherein the at least three parallel link mechanisms include a fixing ring fixedly disposed on one side of the front and rear of the cylindrical casing, and a front and rear direction of the other side of the cylindrical casing. A sliding ring that is movably disposed, a cross arm that is pivotally connected to the fixed ring and the sliding ring, respectively, and provided on the front side of each cross arm, respectively, A pipe thinning measuring apparatus, comprising: a link plate provided with omnidirectional moving wheels; and a spring for urging the sliding ring toward the fixed ring.

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