JP6306904B2 - Ultrasonic inspection apparatus and ultrasonic inspection method - Google Patents

Description

  The present invention relates to an ultrasonic inspection apparatus that can be inserted into a tube and an ultrasonic inspection method using the same. More specifically, the present invention relates to a compact ultrasonic inspection apparatus that can be expanded and contracted in a tube and an ultrasonic inspection method using the same.

  2. Description of the Related Art An ultrasonic device has been developed that is inserted into a tube and transmits ultrasonic waves to the inner wall of the tube to measure the damaged state of the tube and the thickness of the tube.

  For example, a pipe thinning measuring apparatus described in Japanese Patent Application Laid-Open No. 2011-158392 (Patent Document 1) is provided on the front side of a measurement carriage inserted into a pipe arranged in a horizontal plane or an inclined plane, and the measurement carriage. A pipe thinning measuring device having a thickness measuring means for measuring the thickness of a pipe and a propulsion means arranged at the rear part of the measuring carriage to advance the measuring carriage, the measuring carriage being a cylindrical casing arranged at the center And at least three parallel link mechanisms that protrude radially outward from the outer peripheral portion of the cylindrical casing, and omnidirectional moving wheels that are front-rear pairs provided on the radially outer side of each parallel link mechanism, and have a thickness The measuring means includes a motor disposed in the cylindrical casing, a sensor holder that is rotationally driven by the motor and disposed at the axial center position of the cylindrical casing, and is mounted perpendicular to the sensor holder. And a thickness measuring sensor, moreover, a part of the radially outer cylindrical casing, wherein the weight to hold the position of the measuring carriage in a predetermined direction is provided.

  In addition, an ultrasonic inspection device for a tube described in Japanese Patent Application Laid-Open No. 2001-83124 (Patent Document 2) includes an ultrasonic probe and a rotating body in a tube, and is inclined 45 degrees toward the front side of the rotating body. The mirror is provided, the ultrasonic wave emitted from the ultrasonic probe is reflected by the mirror, and the reflected wave is detected by the ultrasonic probe.

JP 2011-158392 A JP 2001-83124 A

  In the apparatus of Patent Document 1, the sensor holder is disposed at the axial center position of the cylindrical casing, and the thickness measurement sensor, that is, the ultrasonic probe is attached orthogonally to the sensor holder. The amount of protrusion in the radial direction of the tentacle is large. Therefore, even if the amount of protrusion of the parallel link mechanism is minimized, it is not compact.

  Since the apparatus of Patent Document 2 uses a rotary drive mechanism using a water jet nozzle, it is impossible to apply to a pipe whose diameter changes.

  Accordingly, an object of the present invention is to provide an ultrasonic inspection apparatus that can be expanded and contracted in a tube and that is further compacted when the diameter is reduced to the minimum, and an ultrasonic inspection method using the same. .

(1)
The present invention is an ultrasonic inspection apparatus that can be used for internal inspection of a tube. The ultrasonic inspection apparatus of the present invention includes a shaft portion, an expansion / contraction arm, a traveling portion, an expansion / contraction portion, an expansion / contraction control portion, a hollow shaft motor, an ultrasonic probe, and an acoustic reflection portion.
The expansion / contraction arm protrudes from the outer peripheral portion of the shaft portion. Furthermore, the expansion / contraction arm can be expanded / contracted in the radial direction centered on the axial center of the shaft portion.
The traveling unit is provided on the expansion / contraction arm.
Furthermore, the expansion / contraction arm can be expanded / contracted by remotely operating the expansion / contraction section by the expansion / contraction control section. For this reason, the diameter reduction and diameter expansion in a pipe become free.
The hollow shaft motor includes a hollow rotating member and a non-rotating member surrounding the hollow rotating member.
The ultrasonic probe is connected and fixed to the non-rotating member. Further, the ultrasonic probe is arranged to transmit ultrasonic waves in the axial direction of the shaft portion.
The acoustic reflection part is rotatably provided in conjunction with the hollow rotating member. Furthermore, the acoustic reflector reflects the ultrasonic wave transmitted from the ultrasonic probe from the axial direction to the radial direction.

When the ultrasonic inspection apparatus of the present invention is inserted into a tube, the expanding / contracting arm expands so as to stretch toward the inner wall of the tube, and the traveling portion provided on the expanding / contracting arm contacts the inner wall of the tube. Thereby, the ultrasonic inspection apparatus is held. Moreover, the expansion / contraction part can be expanded / contracted to expand / contract the expansion / contraction arm. For this reason, the diameter reduction and diameter expansion in a pipe become free.
In addition, the ultrasonic inspection apparatus of the present invention includes an internal moving part (specifically, in the case of (1), an expansion / contraction arm, a traveling part, an expansion / contraction part, a hollow shaft motor, an ultrasonic probe, and the like. And an external operation unit (specifically, in the case of (1), the expansion / contraction control unit), and in this specification, an ultrasonic inspection apparatus is inserted into the tube. When it is described, it means that the internal moving part is inserted into the tube.

  The tube into which the ultrasonic inspection apparatus of the present invention is inserted is not particularly limited as long as it can be an object of ultrasonic inspection. For example, a metal tube, a resin tube, a porous material such as a mortar or a resin, etc. A lined metal tube is an example.

  In addition, since the acoustic reflection portion that reflects the ultrasonic waves is rotatably provided, the ultrasonic probe can be provided in a fixed state. As a result, the size of the ultrasonic inspection apparatus in the radial direction around the axial center of the shaft portion (particularly, the size when the expansion / contraction arm is most contracted) can be made compact. For example, the ultrasonic probe can be provided so as to extend in the radiation direction, and the size of the ultrasonic probe can be reduced more efficiently than when the ultrasonic probe itself is rotated about the axis.

  Furthermore, since the ultrasonic wave propagates through the hollow part of the hollow rotating member by using a hollow shaft motor for rotating the acoustic reflecting part, the ultrasonic probe itself should be arranged in the axial direction. Can do. This also makes it possible to reduce the size of the ultrasonic inspection apparatus in the radial direction.

  In addition, in this specification, continuous fixing means both the aspect fixed directly via other members, and the aspect fixed indirectly via other members. Moreover, in this specification, the diameter described regarding the dimension of a pipe | tube means an internal diameter unless there is particular notice.

Further, the fact that the ultrasonic wave is transmitted in the axial direction of the shaft portion is not limited to the transmission of the ultrasonic wave on the axial center, and is preferably within ± 5 mm parallel to the axial center and within the radial direction from the axial center. Includes transmission with a deviation within ± 3 mm and transmission with a deviation in a direction inclined ± 5 degrees, preferably ± 3 degrees from the axis.
For example, the position at which the acoustic reflection unit reflects the ultrasonic waves from the axial direction to the radial direction is preferably on the axial center, but the position may be within ± 5 mm from the axial center to the radial direction, and ± 3 mm. It is more preferable that Thereby, a preferable sensitivity can be obtained. For example, the echo height can be reduced to a maximum of about half (decrease by a maximum of 6 dB as a specific example).
Furthermore, the ultrasonic wave reflected by the acoustic reflector is preferably incident at 90 degrees with respect to the tangent to the inner wall of the tube, but the incident angle may be not less than 85 degrees and not more than 95 degrees. Furthermore, it is more preferable from the viewpoint of sensitivity if the incident angle is 88 degrees or more and 92 degrees or less, particularly 90 degrees. For example, the echo height can be reduced to a maximum of about half (decrease by a maximum of 6 dB as a specific example).

(2)
The ultrasonic inspection apparatus of the present invention may include an expansion / contraction part that expands / contracts the expansion / contraction arm. The movable part of the telescopic part can be provided so as to move in the axial direction of the shaft part.

  In this case, the expansion / contraction arm expands / contracts with expansion / contraction of the expansion / contraction part, and the expansion / contraction direction of the expansion / contraction part is the axial center direction of the shaft part. As a result, the size of the ultrasonic inspection apparatus in the radial direction around the axis of the shaft can be made compact. For example, the size reduction can be achieved more efficiently than in the case where the expansion / contraction part is disposed so as to expand and contract in the radial direction.

(3)
In the ultrasonic inspection apparatus of the present invention described in (1) above, the expansion / contraction part may be arranged on the outer peripheral part of the shaft part so as to expand and contract in the axial direction of the shaft part.

  In this case, since the expansion / contraction direction of the expansion / contraction part is the axial direction of the shaft part, even if the expansion / contraction part itself is provided on the outer peripheral part of the shaft part, the radiation direction of the ultrasonic inspection apparatus around the axis The size of can be made compact. For example, it is possible to reduce the size more efficiently than in the case where an expansion / contraction part is disposed on the outer peripheral part of the shaft part so as to expand and contract in the radial direction.

(4)
In the ultrasonic inspection apparatus according to the present invention described in (1) and (2) above, the stretchable part may constitute at least a part of the shaft part.

  In this case, since the function of the expansion / contraction part is assigned to at least a part of the shaft part, a structure in which the expansion / contraction part having a relatively large size is not provided on the outer peripheral part of the shaft part is possible. For example, it is possible to provide no expansion / contraction part at the outer peripheral part of the shaft part, or an auxiliary member such as an auxiliary spring for assisting the operation of the expansion / contraction part on the outer peripheral part of the shaft part (the auxiliary member is also a component of the expansion / contraction part) It is also possible to provide only. Therefore, the magnitude | size of the radial direction centering on the axial center of an axial part of an ultrasonic inspection apparatus can be made compact.

(5)
The ultrasonic inspection apparatus of the present invention may be configured such that the expansion / contraction arm has a storage portion, and the expansion / contraction portion is stored in the storage portion when the expansion / contraction arm is most contracted.

  As a result, the size of the ultrasonic inspection apparatus in the radial direction around the axis of the shaft can be made compact.

(6)
The ultrasonic inspection apparatus of the present invention may include at least a housing portion that houses the hollow shaft motor. In this case, when the expansion / contraction arm is most contracted, it is preferable that the entire expansion / contraction arm overlaps the projection of the casing in the axial direction.

  In this case, the size of the ultrasonic inspection apparatus in the radial direction when the expansion / contraction arm is most contracted can be made compact.

(7)
It is preferable that the base ends of each of the plurality of expansion / contraction arms are pivotally attached at two locations on one end side and the other end side of the shaft portion in the axial direction. In this case, the expansion / contraction arm arranged on one end side and the expansion / contraction arm arranged on the other end side are opposite to each other in the axial direction.
The base ends of each of the plurality of expansion / contraction arms are arranged at equal intervals around the axis at a predetermined position in the axial direction, and the expansion / contraction arms have an angle not exceeding 90 degrees in the radial direction with the base end as a center. It is configured to be rotatable.

In this case, the expansion / contraction arm extends substantially along the axis of the shaft when it is most contracted, and at the time of expansion, the base end located at a predetermined position is the center, and the tip is in the reflection direction from the axis. The tip rises away from the center of the screen, and at the time of reduction, the tip falls down so as to approach the axis. Accordingly, the structure of each of the expansion / contraction arms can be simplified, and the size of the ultrasonic inspection apparatus in the radial direction around the axis of the shaft portion can be made compact.
Further, in this case, the rotation angle around the base end of the expansion / contraction arm does not exceed 90 degrees. In this way, since the expansion / contraction arm having a simple structure moves within a predetermined movable range in the axial direction, the size of the axial portion of the ultrasonic inspection apparatus in the axial direction can be made compact.
Therefore, the space occupied by the trajectory of the operation of the expansion / contraction arm can be reduced. For this reason, the direction change in a branch pipe like a cheese type piping becomes easy.

Furthermore, since the shaft body is aligned stably in the tube, the ultrasonic inspection apparatus is stably held in the tube.

(8)
In the ultrasonic inspection apparatus according to the present invention described in (1) to (7) above, the expansion / contraction arm includes a long arm piece having a traveling portion disposed at the tip, and a short arm piece shorter than the long arm piece. A link mechanism may be formed. In this link mechanism, the short arm piece is fixed to the movable part of the telescopic part at the base end and is rotatably fixed between the tip end and the base end of the long arm piece.

  In this case, the space occupied by the trajectory of the expansion / contraction arm can be reduced, and the expansion / contraction operation of the expansion / contraction part can be interlocked with the expansion / contraction operation of the expansion / contraction arm by the link mechanism having a simple structure. The short arm piece is preferably provided near the tip of the long arm piece from the viewpoint of the stability of the expansion / contraction arm.

(9)
In the ultrasonic inspection apparatus of the present invention, it is preferable that at least a part of the ultrasonic probe is disposed in the hollow portion of the hollow rotating member.

  As a result, the size of the shaft portion in the axial direction of the ultrasonic inspection apparatus can be made compact.

(10)
In the ultrasonic inspection apparatus according to the present invention described in (1) to (9) above, the expansion / contraction part may include an auxiliary spring that assists the operation of the expansion / contraction arm.

  Accordingly, the operation of the expansion / contraction arm is assisted by the auxiliary spring, so that the operation of the expansion / contraction arm becomes smoother.

(11)
In the ultrasonic inspection apparatus according to the present invention described in (1) to (10) above, the expansion / contraction part may be driven by atmospheric pressure.

  In this case, since the medium is air, the risk of contamination, ignition, electric shock, etc. in the pipe is avoided even if the medium leaks.

(12)
In the ultrasonic inspection apparatus of the present invention described in (11) above, the extendable part may be an air cylinder.

  Thereby, the expansion / contraction operation of the expansion / contraction part can be interlocked with the expansion / contraction operation of the expansion / contraction arm with a simple structure.

(13)
The ultrasonic inspection apparatus according to the present invention includes a rotation sensor having a position marker provided on the hollow rotating member or the acoustic reflection portion, and a sensor for detecting the position marker, which is connected and fixed to the ultrasonic probe. It is preferable.

  This makes it possible to accurately determine the circumferential position of the inner wall of the tube to be inspected by ultrasonic waves.

(14)
The ultrasonic inspection method of the present invention ultrasonically inspects the inside of a tube using the ultrasonic waves described in (1) to (13) above.
As a result, after being inserted into the tube from a small diameter, the inside of the tube is ultrasonically inspected by expanding and contracting the expansion / contraction arm according to the change in the diameter of the tube inner wall and transmitting ultrasonic waves to the tube inner wall while traveling in the tube. be able to.

  According to the present invention, it is possible to provide an ultrasonic inspection apparatus that can be expanded and contracted in a tube and that is further compacted when the diameter is reduced to the smallest, and an ultrasonic inspection method using the ultrasonic inspection apparatus.

It is a block diagram of the ultrasonic inspection apparatus concerning a 1st embodiment. It is the typical side sectional view and typical side view at the time of diameter expansion of the ultrasonic inspection device concerning a 1st embodiment. It is a typical front view of the ultrasonic inspection apparatus concerning a 1st embodiment. 1 is a schematic front sectional view of an ultrasonic inspection apparatus according to a first embodiment. It is the typical side sectional view and typical side view at the time of diameter reduction of the ultrasonic inspection device concerning a 1st embodiment. It is a typical sectional side view of the principal part containing the detection part of the ultrasonic inspection apparatus concerning 1st Embodiment. It is a typical exploded view of the principal part of FIG. It is a typical back view of the ultrasonic inspection apparatus concerning 2nd Embodiment. It is a typical sectional side view at the time of the diameter expansion of the principal part containing the expansion / contraction arm of the ultrasonic inspection apparatus concerning 2nd Embodiment. It is a typical sectional side view at the time of the diameter reduction of the principal part containing the expansion / contraction arm of the ultrasonic inspection apparatus concerning 2nd Embodiment. It is a typical front sectional view of an ultrasonic inspection device concerning a 3rd embodiment. It is a typical partial sectional side view of the principal part containing the expansion / contraction arm of the ultrasonic inspection apparatus concerning 3rd Embodiment. It is a typical partial sectional side view at the time of the diameter expansion of the principal part containing the expansion / contraction arm of the ultrasonic inspection apparatus concerning 4th Embodiment. It is a typical partial sectional side view at the time of the diameter reduction of the principal part containing the expansion / contraction arm of the ultrasonic inspection apparatus concerning 4th Embodiment. It is a typical partial sectional side view at the time of the diameter expansion of the principal part containing the expansion / contraction arm of the ultrasonic inspection apparatus concerning 5th Embodiment. It is a typical partial cross section figure of the ultrasonic inspection apparatus concerning 5th Embodiment. It is a typical partial sectional side view at the time of the diameter reduction of the principal part containing the expansion / contraction arm of the ultrasonic inspection apparatus concerning 5th Embodiment. It is a typical partial sectional side view at the time of the diameter expansion of the principal part containing the expansion / contraction arm of the ultrasonic inspection apparatus concerning 6th Embodiment. It is a typical partial sectional side view at the time of the diameter reduction of the principal part containing the expansion / contraction arm of the ultrasonic inspection apparatus concerning 6th Embodiment. It is a typical partial side view of the ultrasonic inspection apparatus concerning 7th Embodiment. It is a typical front view of the ultrasonic inspection apparatus concerning a 7th embodiment. It is a typical external view at the time of diameter expansion of the ultrasonic inspection apparatus concerning 8th Embodiment. It is a typical external view of the principal part containing the cable of the ultrasonic inspection apparatus concerning 8th Embodiment. It is a typical external view at the time of diameter reduction of the ultrasonic inspection apparatus concerning 8th Embodiment. It is a typical back sectional view of the ultrasonic inspection equipment concerning an 8th embodiment. It is a conceptual diagram explaining the aspect in which the ultrasonic inspection apparatus concerning 8th Embodiment changes the direction in a cheese type pipe | tube.

  Hereinafter, embodiments of the present invention will be described with reference to the drawings. In the following description, the same elements are denoted by the same reference numerals, and their names and functions are also the same. Therefore, detailed description thereof will not be repeated.

[First Embodiment-Ultrasonic Inspection Apparatus 100]
FIG. 1 is a block diagram of an ultrasonic inspection apparatus according to the first embodiment.
FIG. 2 is a schematic side cross-sectional view and a schematic side view of the ultrasonic inspection apparatus according to the first embodiment at the time of diameter expansion. In FIG. 2, the ultrasonic inspection apparatus inserted in the tube is shown, and the inner wall surface L of the tube is indicated by a dashed line in the drawing (the same applies to the following drawings). The main part including the expansion / contraction arm in FIG. 2 shows a cross section taken along line AA of FIG. 4 described later in the upper half, and a diagram corresponding to the appearance of the main part described as the cross-sectional view is schematically shown in the lower half. Shown in
FIG. 3 is a schematic front view of the ultrasonic inspection apparatus according to the first embodiment. The front means an external appearance when the ultrasonic inspection apparatus is viewed in the axial direction of the tube from the traveling direction side.
FIG. 4 is a schematic front sectional view of the ultrasonic inspection apparatus according to the first embodiment. Specifically, a cross section taken along line BB in FIG. 2 is shown.
FIG. 5 is a schematic cross-sectional side view and a schematic side view of the ultrasonic inspection apparatus according to the first embodiment when the diameter is reduced. FIG. 5 is the same as FIG. 2 except that the enlargement / reduction mode is different.

  In the following, for convenience of explanation, the direction of the arrow F (see FIGS. 2 and 5) is the traveling direction, the direction opposite to the arrow F is the retreating direction, and the axis O of the inner wall surface L (see FIGS. 3 and 4). ) As the axis, and the radial direction of the inner wall surface L may be referred to as the radial direction.

[Configuration overview]
As shown in FIG. 1, the ultrasonic inspection apparatus 100 according to the present embodiment includes an internal movement unit 110 and an external operation unit 120. The internal movement unit 110 and the external operation unit 120 are physically and electrically connected by a cable 130.

  The internal moving part 110 is a part that is inserted into the pipe and travels in the axial direction of the pipe, and includes a cylindrical part (shaft part) 200, an air cylinder 300, an expansion / contraction arm 400, and wheels 500. In addition, the internal moving unit 110 includes a hollow shaft motor 610, a direction changing unit 620, and a detecting unit 700. The internal movement unit 110 will be described in detail with reference to FIGS. 2 to 5, and the detection unit 700 will be described in detail with reference to FIGS. 2, 3, 6, and 7. In these drawings, the illustration of the cable 130 connected to the internal moving unit 110 is omitted.

  The external operation unit 120 is a part that is operated outside the pipe, and includes an input / output unit such as an expansion / contraction control unit 121, a motor control unit 122, a direction control unit 123, and a detection condition control unit 124, a detection information analysis unit 125, and an output. Part 126.

  The expansion / contraction control unit 121 controls expansion / contraction of the air cylinder 300. As a specific example, a sequencer for controlling a solenoid valve (described later) which is one of the components constituting the air cylinder 300 can be cited. The motor control unit 122 controls the traveling speed of the wheels 500. The motor control unit 122 controls the hollow shaft motor 610. The direction control unit 123 converts the traveling direction of the wheel 500. The detection condition control unit 124 controls the detection unit 700 such as control of input information such as measurement conditions and feedback control based on output information such as measurement results. The detection information analysis unit 125 analyzes output information from the detection unit 700. The output unit 126 outputs information output by the detection unit 700.

[Cylinder part]
As shown in FIG.2 and FIG.4, the internal movement part 110 has the cylinder part 200 in the front view center. The cylindrical portion 200 extends in the axial direction of the inner wall surface L of the tube, and includes a shaft housing portion 210 and a connecting member 220 provided on the outer peripheral surface of the shaft housing portion 210.

  A desired member can be accommodated in the shaft housing portion 210. For example, related parts (described later) of the air cylinder 300 can be accommodated. In addition, the direction changer 620 and the cable 130 shown in FIG. 1 can be accommodated.

  The connecting member 220 connects the cylindrical portion 200 and other members. In this embodiment, the air cylinder 300 and the expansion / contraction arm 400 are connected. The connecting member 220 is provided in a manner corresponding to the expansion / contraction mechanism of the expansion / contraction arm 400.

  In the present embodiment, the connecting member 220 is fixed to the sliding ring 221 provided so as to be slidable in the axial direction on the outer peripheral surface of the shaft housing portion 210 and the outer peripheral surface of the shaft housing portion 210. Fixing rings 222, 223, and 225. In the axial direction, a fixing ring 223, a fixing ring 225, a sliding ring 221 and a fixing ring 222 are provided in this order from the traveling direction F side.

The sliding ring 221 is pivotally attached to the base of the expansion / contraction arm 400. Thereby, the base part of the expansion-contraction arm 400 is connected in the state which can rotate freely and can move to an axial direction.
The fixing rings 222 and 223 also pivotally attach to the base of the expansion / contraction arm 400. Thereby, the base part of the expansion-contraction arm 400 is connected in the state fixed rotatably.
On the other hand, the fixing ring 225 fixes the air cylinder 300 so as to hold it.

[Air cylinder]
The air cylinder 300 is an actuator that is driven using the pressure of air. Accordingly, the piston 310, the cylinder 320, and other related parts (not shown) are included. Related parts include parts necessary for air circulation, specifically, air piping and a compressed air source. Other related parts include parts necessary for operation, specifically, a speed controller that adjusts the speed, a sensor that detects the piston position, and a solenoid valve that switches the direction of air.

  As shown in FIG. 2, the air cylinder 300 is disposed so as to extend in the axial direction. Thereby, the expansion / contraction direction of the air cylinder 300 becomes the axial direction. A portion of the cylinder 320 is fixed to the fixing ring 225, while the rod 311 of the piston 310 of the air cylinder 300 is fixed to the sliding ring 221. Therefore, the sliding ring 221 slides in the axial direction by the expansion / contraction operation of the air cylinder 300, and thereby the expansion / contraction arm 400 connected to the sliding ring 221 can be operated as will be described in detail later.

[Expansion and contraction arm and wheel]
As shown in FIGS. 2 and 4, the expansion / contraction arm 400 is connected to the connecting member 220 of the cylindrical portion 200, thereby projecting in the radial direction around the axial center of the cylindrical portion 200, that is, in the radial direction of the tube. Established. A wheel 500 is provided at the tip of the expansion / contraction arm 400, that is, the portion of the expansion / contraction arm 400 that is farthest from the cylindrical portion 200. In the present embodiment, three sets of the expansion / contraction arm 400 and the wheel 500 are provided so as to be equally spaced around the axis.

  The expansion / contraction arm 400 includes a main arm piece 411, a link arm piece 412, a sub arm piece 413, and a synchronization arm piece 414. Together with the connecting member 220 and the air cylinder 300, they constitute a link mechanism that links the expansion / contraction operation of the air cylinder 300 with the expansion / contraction operation of the expansion / contraction arm 400.

  As shown in FIG. 4, the main arm piece 411, the link arm piece 412, the sub arm piece 413, and the synchronization arm piece 414 are provided in pairs at both ends of the axle 500 so as to hold the axle of the wheel 500. A free space S is formed between the arm pieces.

  As shown in FIG. 2, the main arm piece 411 can be rotated so that the angle with respect to the axis changes around the shaft-attached portion by the base end portion being pivotally attached to the sliding ring 221. Since the distal end portion of the main arm piece 411 is connected to the wheel 500 via the synchronous arm piece 414 as will be described later, the amount of separation of the wheel 500 from the cylinder portion 200 is physically defined by the rotation operation.

  The main arm piece 411 can move in the axial direction in the axial direction as the sliding ring 221 moves in the axial direction. The slide ring 221 fixes the rod 311 of the air cylinder 300 as described above. That is, the base end position of the main arm piece 411 moves with the expansion / contraction operation of the air cylinder 300.

  Further, the distal end portion of the link arm piece 412 is rotatably fixed between the distal end portion and the proximal end portion of the main arm piece 411. The link arm piece 412 is pivotally attached to the fixing ring 222 at the base end portion on the retreat direction side with respect to the fixing position of the tip end portion. Accordingly, the link arm piece 412 rotates in the direction opposite to the main arm piece 411 around the axis-attached portion according to the change in the relative position with the base end portion of the main arm piece 411, and the distal end of the main arm piece 411 The part is operated so as to be close to or away from the cylindrical part 200.

  The sub arm piece 413 has the same shape and size as the main arm piece 411, and the base end portion is pivotally attached to the fixing ring 223, so that the sub arm piece 413 can be rotated in the same manner as the main arm piece 411. Further, the distal end portion of the sub arm piece 413 is connected to a synchronous arm piece 414 to which the distal end portion of the main arm piece 411 is rotatably fixed so as to be rotatable and slidable in the axial direction. Therefore, the sub arm piece 413 rotates by the synchronization arm piece 414 in synchronization with the rotation operation of the main arm piece 411.

Furthermore, since the connecting position moves in the axial direction along with the rotational operation at the tip of the sub arm piece 413, the synchronous arm piece 414 maintains a posture substantially parallel to the axial center throughout the operation. Since the wheels 500 are provided at both ends of the synchronization arm piece 414 in the axial center direction, both wheels 500 can reliably contact the inner wall surface L parallel to the axial center.
Other members (not shown) related to the wheel 500, such as a driving device and a suspension, may be provided.

[Scale operation]
As shown in FIG. 2, when the diameter is expanded, the sliding ring 221 is the same as the arrow E as the expansion / contraction control unit 121 (see FIG. 1) is operated to extend the air cylinder 300 in the direction of the arrow E. By moving in the direction, the base end position of the main arm piece 411 also moves in the same direction as the arrow E. As a result, the space between the base end of the main arm piece 411 and the base end of the link arm piece 412 is narrowed, so that the link arm piece 412 raises its tip end in a direction away from the tube portion 200 and the main arm piece 411. Is raised in a direction away from the cylindrical portion 200. The main arm piece 411 is operated so that the sub arm piece 413 similarly occurs via the synchronous arm piece 414. As a result, the expansion / contraction arm 400 is expanded in the direction of the arrow SU, and a load is applied to stretch the wheels 500 provided at both ends of the synchronization arm piece 414 with respect to the inner wall surface L.

  In this case, since the air cylinder 300 is synchronously extended in all the expansion / contraction arms 400 provided to the cylinder portion 200 by the operation of the expansion / contraction control unit 121 (see FIG. 1), the degree of expansion in all the expansion / contraction arms 400 And the expansion timing becomes substantially equal. By such an expansion operation of the expansion / contraction arm 400, as shown in FIG. 4, the center of the cylindrical portion 200 is aligned so as to substantially coincide with the axis of the inner wall surface L.

  On the contrary, as shown in FIG. 5, when the diameter is reduced (when the diameter is reduced to the minimum), the expansion / contraction control unit 121 (see FIG. 1) is operated to reduce the air cylinder 300 in the direction of arrow C. Accordingly, the sliding ring 221 moves in the same direction as the arrow C, so that the base end position of the main arm piece 411 also moves in the same direction as the arrow C. As a result, the space between the base end portion of the main arm piece 411 and the base end portion of the link arm piece 412 expands, so that the link arm piece 412 tilts the tip end portion in the direction close to the cylindrical portion 200 and the main arm piece 411. Is tilted in the direction of approaching the tube part 200. The operation of the main arm piece 411 causes the sub arm piece 413 to be similarly moved down via the synchronous arm piece 414. As a result, the expansion / contraction arm 400 is contracted in the direction of the arrow SD. Also in this case, the expansion / contraction arm 400 applies a load that causes the wheels 500 provided at both ends of the synchronization arm piece 414 to be stretched against the inner wall surface L.

  In this case, since the air cylinders 300 are synchronously contracted in all the expansion / contraction arms 400 provided for the cylindrical portion 200 by the operation of the expansion / contraction control unit 121 (see FIG. 1), The timing of reduction becomes substantially equal. By such a reduction operation of the expansion / contraction arm 400, the axis of the cylindrical portion 200 is aligned so as to substantially coincide with the axis of the inner wall surface L.

  Further, when the expansion / contraction arm 400 is reduced to the minimum as shown in FIG. 5, a part of the air cylinder 300 is accommodated in the free space S (see FIG. 4) formed in the expansion / contraction arm 400. That is, the presence of the air cylinder 300 does not hinder the diameter reduction. For this reason, when the expansion / contraction arm 400 is reduced to the minimum, the size of the ultrasonic inspection apparatus 100 in the radial direction can be made compact.

  Such expansion / contraction of the expansion / contraction arm 400 is performed by remotely operating the expansion / contraction operation of the air cylinder 300 by the expansion / contraction control unit 121 (see FIG. 1) of the external operation unit 120. Is free. Thereby, even in a portion where the change in the diameter of the inner wall surface L is large, the diameter can be positively reduced and expanded according to the change in the diameter of the inner wall surface L. Furthermore, the direction change in cheese-shaped piping is also facilitated.

[Motor and detector]
As shown in FIG. 2, a hollow shaft motor 610 housed in a housing 800 and a detection unit 700 are disposed at the end of the cylindrical part 200 on the traveling direction F side. The hollow shaft motor 610 includes a rotating hollow rotating member 611 and a non-rotating non-rotating member 612, and the detection unit 700 includes an ultrasonic probe 710 and an acoustic reflection unit 720.

  As shown in FIG. 3, the hollow rotating member 611 has a circular pipe shape with a through hole 615 for securing a hollow portion, and is disposed coaxially with the axis O of the cylindrical portion 200. The non-rotating member 612 has a substantially square block shape with a through hole corresponding to the outer surface of the hollow rotating member 611, and the hollow rotating member 611 can be rotated by passing the hollow rotating member 611 through the through hole. Go to. Further, fixing screw holes are recessed in the vicinity of the four corners of the substantially square of the non-rotating member 612.

  As shown in FIGS. 6 and 7, the housing portion 800 that accommodates the hollow shaft motor 610 includes a casing member 810 that opens in the retracting direction, and a casing cover member 820 that closely fits the opening. A close fitting portion between the casing member 810 and the casing cover member 820 is sealed with a gasket. The casing member 810 and the casing cover member 820 have a through hole 813 and a through hole 822 that are coaxial with the axis O, respectively. The casing cover member 820 is provided with a cable hole 826 that allows the motor cable 136 of the hollow shaft motor 610 to pass therethrough, and the motor cable 136 is wired from the inside of the housing portion 800 to the outside. Further, the casing cover member 820 has a screw hole at a position corresponding to a fixing screw hole provided in the non-rotating member 612 of the hollow shaft motor 610, and the non-rotating member 612 is fixed by screwing. (Refer to the lower half of FIG. 6).

A probe fixing member 750 is further screwed and fixed to the casing cover member 820 fixed to the non-rotating member 612 in this way (see the upper half of FIG. 6). As shown in FIGS. 6 and 7, the probe fixing member 750 is provided with a through hole 755 that is coaxial with the axis O and has a diameter that allows the ultrasonic probe 710 to be fitted therein. The ultrasonic probe 710 is fixed by fitting the ultrasonic probe 710 into the screw. As a result, the ultrasonic probe 710 is fixed to the non-rotating member 612 of the hollow shaft motor 610 via the probe fixing member 750 and the casing cover member 820. In this case, as shown in FIG. 6, the ultrasonic wave propagation part 712 of the ultrasonic probe 710 also penetrates through the through hole 822 of the casing cover member 820, and the end on the traveling direction side is a hollow shaft in the housing part 800. The motor 610 is inserted until it reaches the inside of the through hole 615 (inside the hollow portion). Thereby, the length of the ultrasonic inspection apparatus in the axis O direction can be shortened.
Note that the probe cable 137 of the ultrasonic probe 710 is wired into the shaft housing 210 (see FIG. 2).

Since the ultrasonic probe 710 fixed as described above is coaxial with the axis O, the ultrasonic wave transmitted from the transmitting unit 711 and propagated in the ultrasonic propagating unit 712 is transmitted to the axis O. It is transmitted in the traveling direction so that the sound axes coincide.
On the other hand, as shown in FIG. 6, an acoustic reflection unit 720 for changing the propagation direction of the transmitted ultrasonic wave is provided on the traveling direction side of the fixed ultrasonic probe 710 in a rotatable manner. . As shown in FIGS. 6 and 7, the acoustic reflection unit 720 includes a reflection member 721 and a rotation holder 724 to which the reflection member 721 is attached.

  The rotating holder 724 is a cylindrical member having a large-diameter cylindrical portion 725 on the traveling direction side into which the reflecting member 721 is inserted and a small-diameter cylindrical portion 726 on the retracting direction side fixed to the hollow rotating member 611 (FIG. 7). reference). As shown in FIG. 6, the rotation holder 724 passes through the through hole 813 of the casing member 810 and is inserted into the housing portion 800, and the small diameter cylindrical portion 726 is inserted into the through hole 615 of the hollow rotation member 611. It is inserted. In this case, the insertion amount of the rotating holder 724 is such that the locking surface 729 formed at the boundary between the large diameter cylindrical portion 725 and the small diameter cylindrical portion 726 contacts and locks the end surface on the traveling direction side of the hollow rotating member 611. Is determined by As a result, the end of the small-diameter tubular portion 726 on the retracting direction side is loosely inserted into the through hole of the casing cover member 820, and the end face of the end and the contact surface 751 of the probe fixing member 750 are inserted. A clearance (for example, a gap of 0.1 mm or more and 0.5 mm or less) is generated between the two. At the same time, the ultrasonic wave propagation part 712 of the ultrasonic probe 710 is loosely inserted inside the small diameter cylindrical part 726.

  As shown in FIG. 6, the rotation holder 724 is fixed to the hollow rotation member 611 by the small diameter cylindrical portion 726 being fitted into the through hole 615 of the hollow rotation member 611, so that the rotation of the hollow rotation member 611 is performed. It can be rotated integrally with driving.

On the other hand, as shown in FIG. 6, a loose groove portion between the large-diameter cylindrical portion 725 of the rotary holder 724 and the through hole 813 of the casing member 810 has a packing groove 811 (see FIG. 7) formed in the through hole 813. In the loose insertion portion between the small diameter cylindrical portion 726 of the rotary holder 724 and the through hole 822 of the casing cover member 820, the packing is fitted in the packing groove 824 formed in the through hole 822. . The packing may be any sealing material for rotational movement, and an oil seal is an example.
Further, in the loose insertion portion between the small diameter cylindrical portion 726 and the ultrasonic propagation portion 712 of the rotary holder 724, a clearance (for example, between the inner wall 728 of the small diameter cylindrical portion 726 and the outer surface of the ultrasonic propagation portion 712). , A gap of 0.1 mm to 0.5 mm is generated.

  Thus, by providing the rotation holder 724 so as not to be fixed to a member other than the hollow rotating member 611, the housing portion 800 and the ultrasonic probe 710 can be rotated freely while being rotatable integrally with the hollow rotating member 611. The non-rotating state can be maintained together with the non-rotating member 612 without transmitting the rotational driving of the member 611.

The reflection member 721 that is fixedly inserted and fixed to the opening end of the large-diameter cylindrical portion 725 of the rotary holder 724 has an inclined surface 723 that can reflect ultrasonic waves on the regression direction side. Specifically, the inclined surface 723 is formed so as to form 45 degrees with respect to the axis O in a side view, and is transmitted from the ultrasonic probe 710 in the direction of the axis O within the large-diameter cylindrical portion 725. The reflected ultrasonic wave is reflected on the axis O and its propagation direction is changed vertically. Note that the material of the reflecting member 721 on the inclined surface 723 has a large acoustic impedance value relative to the acoustic impedance value of the ultrasonic propagation medium (water in this embodiment) from the ultrasonic probe 710. It is comprised from the metal material, resin material, ceramic material, etc. which have a difference.
An exit hole 727 serving as an exit to the outside of the ultrasonic wave whose propagation direction is changed by the inclined surface 723 is provided on a side surface of the large diameter cylindrical portion 725 of the rotary holder 724.

As a result, as indicated by the dotted line in FIG. 2, the ultrasonic wave transmitted from the ultrasonic probe 710 is changed in propagation direction by the inclined surface 723, propagates outside through the exit hole 727, and passes through the tube. Incident perpendicularly to the inner wall L.
Further, when the rotary holder 724 rotates about the axis O by the rotation of the hollow shaft motor 610, the inclined surface 723 of the reflecting member 721 also rotates integrally. Thereby, the incident position can be rotated and moved along the circumferential direction of the tube while maintaining the incident angle to the inner wall L of the tube. Therefore, the inner wall surface L in the circumferential direction of the tube can be scanned evenly.

  Further, as shown in FIG. 6, a one-turn sensor 770 is provided inside the housing unit 800. The single rotation sensor 770 includes a position marker 771 fixed to the hollow rotation member 611 and a sensor 772 fixed to the casing cover member 820. The position marker 771 is detected by a sensor 772 such as a permanent magnet, and rotates together with the hollow rotating member 611. On the other hand, the sensor 772 is a sensor selected according to the characteristics of the position marker 771 such as a Hall element, and the non-rotating state is maintained together with the non-rotating member 612.

  Therefore, the sensor 772 detects when the position of the rotating position marker 771 coincides with the position shown in the figure, thereby detecting the time for one rotation of the hollow rotating member 611. A more detailed position marker position can be derived from the detection timing (period T) of the sensor 772 and the rotation time (<T) of the position marker 771.

[Second Embodiment-Ultrasonic Inspection Apparatus 100a]
FIG. 8 is a schematic rear view of the ultrasonic inspection apparatus according to the second embodiment. The back surface means an external appearance when the device is viewed from the regression direction side in the axial direction of the tube. FIG. 9 is a schematic partial cross-sectional view of the ultrasonic inspection apparatus according to the second embodiment at the time of diameter expansion. 9 schematically shows a cross section taken along the line DD of FIG. 8, and the hollow shaft motor 610, the detection unit 700, and the housing unit 800 are omitted because they are the same as those in the first embodiment. FIG. 10 is a schematic partial side sectional view of the ultrasonic inspection apparatus according to the second embodiment when the diameter is reduced. FIG. 10 is displayed in the same manner as FIG. 9 except that the enlargement / reduction mode is different.

In the second embodiment, portions that are different from the first embodiment will be mainly described, and description of similar portions will be omitted.
The internal movement part 110a of the ultrasonic inspection apparatus 100a shown in FIGS. 8 to 10 includes an expansion / contraction arm 400a having a link mechanism different from that of the first embodiment, and an auxiliary wheel 510a.

[Connecting members]
The connecting member 220a is provided in a manner corresponding to the expansion / contraction arm 400a. In the present embodiment, the connecting member 220a includes the sliding ring 221a provided so as to be slidable in the axial direction on the outer peripheral surface of the shaft housing portion 210, and the outer peripheral surface of the shaft housing portion 210 of the cylindrical portion 200a. And fixing rings 224a and 225a. In the axial direction, a fixing ring 224a, a sliding ring 221a, and a fixing ring 225a are provided in this order from the traveling direction F side.

[Air cylinder]
The air cylinder 300 is fixed to the fixing ring 225a, and the rod 311 is fixed to the sliding ring 221a. Therefore, the sliding ring 221a slides in the axial direction by the expansion / contraction operation of the air cylinder 300, and thereby the expansion / contraction arm 400a connected to the sliding ring 221a can be operated as will be described in detail later.

[Expansion and contraction arm]
The expansion / contraction arm 400a includes a main arm piece 411a and a link arm piece 412a having a shorter length than the main arm piece 411a. Together with the connecting member 220a and the air cylinder 300, these constitute a link mechanism that links the expansion / contraction operation of the air cylinder 300 with the expansion / contraction operation of the expansion / contraction arm 400a.

  As shown in FIG. 8, since the main arm piece 411a and the link arm piece 412a are provided in pairs at both ends of the axle 500 so as to hold the axle of the wheel 500a, there is free between the pair of arm pieces. A space Sa is formed.

  As shown in FIG. 9, the base end portion of the main arm piece 411a is pivotally attached to the fixing ring 224a, so that the main arm piece 411a can rotate so that the angle θ with respect to the axis changes with the axially attached portion as the center. Since the wheel 500a is connected to the tip of the main arm piece 411a, the amount of separation of the wheel 500a from the cylindrical portion 200a is physically defined by the rotation operation. The angle θ should not exceed 90 degrees. Furthermore, it may be 60 degrees or less or 45 degrees or less from the viewpoint of stability of the ultrasonic inspection apparatus 100a when the diameter of the expansion / contraction arm 400a is expanded most.

  Further, the distal end portion of the link arm piece 412a is rotatably fixed between the distal end portion and the proximal end portion of the main arm piece 411a. The link arm piece 412a is pivotally attached to the sliding ring 221a at the base end portion on the traveling direction F side from the fixed position of the tip end portion. As a result, the rotation can be performed so that the angle with respect to the axis changes around the axis-attached portion, and the base end position can move in the axis direction as the sliding ring 221a moves in the axis direction. Accordingly, the link arm piece 412a rotates in the same direction as the main arm piece 411 around the pivoted portion in accordance with a change in the relative position with the base end of the main arm piece 411a, and the tip of the main arm piece 411a. The part is operated so as to be close to or away from the cylindrical part 200a.

  The main arm piece 411a has a pair of auxiliary wheels 510a. The pair of auxiliary wheels 510a is pivotally attached between the base end portion and the tip end portion, in the vicinity of the base end portion in the present embodiment. The auxiliary wheel 510a has a wheel shaft that can slide in the short direction of the main arm piece 411a, and is biased in a direction that is exposed from the main arm piece 411a to the inner wall surface L side in a side view. The wheel axle slides against the urging force when the tip of the main arm piece 411a is close to the cylindrical portion 200a and the auxiliary wheel 510a contacts the inner wall surface L.

[Scale operation]
As shown in FIG. 9, when the diameter is expanded, the sliding ring 221a is moved in the same direction as the arrow C as the expansion / contraction control unit 121 (see FIG. 1) is operated to contract the air cylinder 300 in the arrow C direction. The base end position of the link arm piece 412a also moves in the same direction as the arrow C. As a result, the space between the base end portion of the link arm piece 412a and the base end portion of the main arm piece 411a widens, so that the link arm piece 412a raises the tip end portion in a direction away from the cylindrical portion 200a and the main arm piece 411a. Is raised in a direction away from the cylindrical portion 200a. As a result, the expansion / contraction arm 400a is expanded in the direction of the arrow SU, and a load is applied to stretch the wheel 500a provided at the tip of the main arm piece 411a against the inner wall surface L.

  In this case, since the air cylinder 300 is synchronously contracted in all of the expansion / contraction arms 400a provided for the cylindrical portion 200a by the operation of the expansion / contraction control unit 121 (see FIG. 1), the degree of expansion in all the expansion / contraction arms 400a. And the expansion timing becomes substantially equal. By such an expansion operation of the expansion / contraction arm 400a, the axis of the cylindrical portion 200a is aligned so as to substantially coincide with the axis of the inner wall surface L.

  On the contrary, as shown in FIG. 10, when the diameter is reduced (when the diameter is reduced to the minimum), the expansion / contraction control unit 121 (see FIG. 1) is operated to extend the air cylinder 300 in the direction of arrow E. Accordingly, the sliding ring 221a moves in the same direction as the arrow E, so that the base end position of the link arm piece 412a also moves in the same direction as the arrow E. As a result, the space between the base end portion of the link arm piece 412a and the base end portion of the main arm piece 411a is narrowed, so that the link arm piece 412a tilts the tip end portion in the direction close to the cylindrical portion 200a and the main arm piece 411a. Is tilted in a direction approaching the tube portion 200a. As a result, the expansion / contraction arm 400a is contracted in the direction of the arrow SD. In this case as well, the expansion / contraction arm 400a applies a load that stretches the wheel 500a against the inner wall surface L.

  In this case, since the air cylinder 300 is synchronously extended in all the expansion / contraction arms 400a provided to the cylindrical portion 200a by the operation of the expansion / contraction control unit 121 (see FIG. 1), the degree of reduction and The timing of reduction becomes substantially equal. Also by such a reduction operation of the expansion / contraction arm 400a, the axis of the cylindrical portion 200a is aligned so as to substantially coincide with the axis of the inner wall surface L.

  Further, when the expansion / contraction arm 400a is reduced to the minimum as shown in FIG. 10, the arm pieces constituting the expansion / contraction arm 400a are folded until they are parallel to the axis. At this time, the auxiliary wheel 510a provided in the vicinity of the base end portion of the main arm piece 411a comes into contact with the inner wall surface L, so that the ultrasonic inspection apparatus 100a is balanced. Further, the air cylinder 300 is accommodated in a free space Sa (see FIG. 8) formed in the expansion / contraction arm 400a. That is, the presence of the air cylinder 300 does not hinder the diameter reduction. For this reason, when the expansion / contraction arm 400a is reduced to the minimum, the size of the ultrasonic inspection apparatus 100a in the radial direction can be made compact.

[Third Embodiment-Ultrasonic Inspection Apparatus 100b]
FIG. 11 is a schematic front view of an ultrasonic inspection apparatus according to the third embodiment. FIG. 12 is a schematic sectional side view of an ultrasonic inspection apparatus according to the third embodiment. In FIG. 12, the EE sectional view of FIG. 11 is shown.

  The internal movement part 110b of the ultrasonic inspection apparatus 100b shown in FIGS. 11 and 12 has the same expansion / contraction arm 400b and wheel 500b as the expansion / contraction arm 400a and the wheel 500a of the second embodiment except that the auxiliary wheel 510a is not provided. . The expansion / contraction arm 400b is projecting radially from the axial center of the cylindrical portion 200b by being connected to the connecting member 220b of the cylindrical portion 200b. A wheel 500b is provided at the distal end of the expansion / contraction arm 400b, that is, the portion of the expansion / contraction arm 400b that is farthest from the cylindrical portion 200b.

  In the present embodiment, as shown in FIG. 11, six sets of expansion / contraction arms 400b and wheels 500b are provided at equal intervals around the axis. As shown in FIG. 12, adjacent expansion / contraction arms 400b are arranged so that the directions in the axial direction are staggered. For this reason, the wheel 500b is always in contact with the inner wall surface L on both the traveling direction F side and the facing direction side. Therefore, the ultrasonic inspection apparatus 100b can always be stably held in the tube.

  The expansion / contraction arm 400b includes a main arm piece 411b and a link arm piece 412b having a shorter length than the main arm piece 411b, and these, together with the connecting member 220b and the air cylinder 300, are combined with the air cylinder 300. It is the same as that in the internal movement part 110a of 2nd Embodiment to comprise the link mechanism which links this expansion-contraction operation | movement with expansion / contraction operation | movement of the expansion / contraction arm 400b. Accordingly, the operation and function of the expansion / contraction arm 400b are the same as those in the internal movement unit 110a of the second embodiment.

[Fourth Embodiment-Ultrasonic Inspection Apparatus 100c]
FIG. 13 is a schematic partial cross-sectional view of the ultrasonic inspection apparatus according to the fourth embodiment at the time of diameter expansion. FIG. 14 is a schematic partial side sectional view of the ultrasonic inspection apparatus according to the fourth embodiment when the diameter is reduced.

  An ultrasonic inspection apparatus 100c shown in FIGS. 13 and 14 is a modification of the ultrasonic inspection apparatus 100b according to the third embodiment. Specifically, in the internal movement unit 110c, the expansion / contraction arm 400c, its constituent arm pieces (the main arm 411c and the link arm 412c), the wheel 500c, and the free space Sc are respectively an ultrasonic inspection apparatus 100b according to the third embodiment. This is the same as the expansion / contraction arm 400b and its constituent arm pieces (the main arm 411b and the link arm 412b), the wheel 500b, and the free space Sb. On the other hand, instead of the shaft housing part 210 and the air cylinder 300 of the ultrasonic inspection apparatus 100b according to the third embodiment, there are a shaft housing part 210c and an air cylinder 300c, respectively.

  In the present embodiment, as the connecting member 220c, a fixing ring 224c, a sliding ring 221c, a sliding ring 226c, and a fixing ring 227c are provided from the traveling direction side. The fixing rings 224c and 227c are fixed to the shaft housing portion 210c, and the sliding rings 221c and 226c are provided so as to be slidable on the surface of the shaft housing portion 210c in the axial direction. The shaft housing portion 210c constitutes a part of an air cylinder 300c (air tank 330c) described later.

  The base end portion of the main arm piece 411c is pivotally attached to the fixing ring 224c. The base end portion of the link arm piece 412c is pivotally attached to a sliding ring 221c that is provided on the retraction direction side of the fixed ring 224c and can be manually operated in the axial direction. Each of the sliding ring 221c and the fixed ring 224c has a shaft attachment portion of a link arm piece 412c and a main arm piece 411c, and both constitute a part (following portion 340c) of an air cylinder 300c described later. Is formed.

[Air cylinder]
The air cylinder 300c includes an air tank 330c, a follower 340c, and an auxiliary spring 350c.
The air tank 330c is used to send and discharge air serving as an operation source of the expansion / contraction arm 400c, and is configured by the shaft housing portion 210c. An air tube (not shown) for sending and discharging air is connected to the air tank 330c.

  The follower 340c constitutes an expansion / contraction mechanism so that the operation follows as air is fed into the air tank 330c and discharged from the air tank 330c. That is, the expansion / contraction operation of the air cylinder 300c is caused by the expansion / contraction operation of the follower 340.

  The follower 340c includes a sliding ring 221c and a fixed ring 224c. More specifically, the sliding ring 221c has a housing portion that opens in the traveling direction F side, the fixing ring 224c has an extending portion that extends in the backward direction, and the inner peripheral side surface of the sliding ring 221c. The outer peripheral surface of the extending portion of the fixing ring 224c is slidably adhered to the extension ring 224c to constitute an expansion / contraction mechanism. Furthermore, the space AR in the housing portion and the space in the air tank 330c communicate with each other through a communication hole provided in the air tank 300c. As a result, the air supply to the air tank 330c and the air discharge operation from the air tank 330c change the volume of the space AR in the housing part and cause the follow-up part 340c to expand and contract.

  In the following description, the fixed ring 224c may be referred to as a fixed portion 324c of the air cylinder 300c, and the sliding ring 221c may be referred to as a movable portion 321c of the air cylinder 300c for the explanation of expansion and contraction of the air cylinder 300c.

  The auxiliary spring 350c is provided on the retraction direction side of the sliding ring 221c so as to extend in the axial direction, and one is fixed to the sliding ring 226c and the other is fixed to the fixing ring 227c. Further, since the sliding ring 221c and the sliding ring 226c are fixed to each other, the auxiliary spring 350c moves as the sliding ring 221c moves.

[Scale operation]
As shown in FIG. 13, during the diameter expansion, the expansion / contraction control unit 121 (see FIG. 1) is operated to send air into the air tank 330c of the air cylinder 300c. Thereby, the sent air moves in the direction of the arrow FL in the drawing in the communication hole of the air tank 330c, and the air flows into the space AR. Accordingly, the movable portion 321c moves together with the sliding ring 226c, so that the base end position of the link arm piece 412c moves in the retreat direction. As a result, the space between the link arm piece 412c and the main arm piece 411c is widened, so that the link arm piece 412c raises its distal end portion in a direction away from the cylindrical portion 200c and the main arm piece 411c is separated from the cylindrical portion 200c. Wake up. As a result, the expansion / contraction arm 400c is expanded in the direction of the arrow SU, and a load is applied to stretch the wheel 500c provided at the tip of the main arm piece 411c against the inner wall surface L.
On the other hand, the auxiliary spring 350c contracts with the movement of the sliding ring 226c.
It is the same as that of the above-mentioned embodiment that it is diameter-expanded in the state aligned so that the axial center of the cylinder part 200c may correspond with the axial center of the inner wall surface L substantially.

  On the contrary, as shown in FIG. 14, when the diameter is reduced (when the diameter is reduced to the minimum), the expansion / contraction control unit 121 (see FIG. 1) is operated to discharge air from the air tank 330c of the air cylinder 300c. Thereby, the air in the space AR moves in the communication hole of the air tank 330c in the direction of the arrow FL in the figure, and the air is discharged from the space AR. Accordingly, since the movable portion 321c moves together with the sliding ring 226c, the base end position of the link arm piece 412c moves in the traveling direction. At the same time, a force is applied to the movable portion 321c to return the auxiliary spring 350c that has contracted due to the diameter expansion, so that the sliding operation occurs smoothly.

As a result, the space between the link arm piece 412c and the main arm piece 411c is narrowed, so that the link arm piece 412c tilts the tip portion in a direction close to the cylindrical portion 200c and the main arm piece 411c approaches the cylindrical portion 200c. knock down. As a result, the expansion / contraction arm 400c is reduced in the direction of the arrow SD. Also in this case, the expansion / contraction arm 400c gives a load that stretches the wheel 500c against the inner wall surface L.
Similar to the above-described embodiment, the diameter is reduced in a state in which the axis of the cylindrical portion 200c is aligned so as to substantially coincide with the axis of the inner wall surface L.

  Furthermore, when the expansion / contraction arm 400c is reduced to the minimum as shown in FIG. 14, the auxiliary spring 350c is accommodated in the free space Sc formed in the expansion / contraction arm 400c. That is, the presence of the auxiliary spring 350c does not hinder the diameter reduction. For this reason, when the expansion / contraction arm 400c is reduced to the minimum, the size of the ultrasonic inspection apparatus 100c in the radial direction can be made compact.

  In the present embodiment, the auxiliary spring 350c is disposed on the side opposite to the fixed ring 224c with respect to the sliding ring 221c in the axial direction. However, the present invention is not limited to this embodiment. . For example, the auxiliary spring 350c may be disposed in a state where both ends are fixed between the fixed ring 224c and the sliding ring 221c. In this case, when the diameter is expanded, the auxiliary spring is extended, and when the diameter is reduced, the returning operation of the expansion / contraction arm 400c can be assisted by the return force of the extended auxiliary spring.

[Fifth Embodiment-Ultrasonic Inspection Apparatus 100d]
FIG. 15 is a schematic partial cross-sectional view of the ultrasonic inspection apparatus according to the fifth embodiment at the time of diameter expansion. FIG. 16 is a schematic partial cross-sectional view of an ultrasonic inspection apparatus according to the fifth embodiment. FIG. 17 is a schematic partial cross-sectional view of the ultrasonic inspection apparatus according to the fifth embodiment when the diameter is reduced.

  An ultrasonic inspection apparatus 100d shown in FIGS. 15 to 17 is a modification of the ultrasonic inspection apparatus 100c according to the fourth embodiment. Specifically, in the internal moving part 110d, the expansion / contraction arm 400d and its constituent arm pieces (main arm 411d and link arm 412d), wheel 500d, shaft housing part 210d, fixing ring 224d (fixing part 324d), sliding ring 221d (Movable part 321d), sliding ring 216d, air cylinder 300d and its constituent members (air tank 330d, follow-up part 340d, auxiliary spring 350d), free space Sd are respectively included in ultrasonic inspection apparatus 100c according to the fourth embodiment. Expansion / contraction arm 400c and its constituent arm pieces (main arm 411c and link arm 412c), wheel 500c, shaft housing part 210c, fixed ring 224c (fixed part 324c), sliding ring 221c (movable part 321c) in internal moving part 110c , Sliding ring 21 c, air cylinder 300c and its components (air tank 330c, tracking unit 340 c, the auxiliary spring 350c), the same as the free space Sc. On the other hand, a sliding ring 228d and a fixing ring 229d are provided instead of the fixing ring 227c of the ultrasonic inspection apparatus 100c according to the fourth embodiment.

  The sliding ring 228d is provided so that the other end of the auxiliary spring 350d is fixed and can slide on the surface of the shaft housing portion 210 in the axial direction. The fixing ring 229d is fixed to the shaft housing part 210.

[Scale operation]
As shown in FIG. 15, at the time of diameter expansion, expansion / contraction of the expansion / contraction arm 400d occurs in the direction of the arrow SU in the aligned state as in the fourth embodiment.
On the other hand, the auxiliary spring 350d moves in the retraction direction with the movement of the sliding rings 226d and 228d.

FIG. 16A and FIG. 16B illustrate a case where the diameter is further expanded from the state of FIG.
In the present embodiment, the fixing ring 229d has an abutting wall 229Hd that abuts the end wall 228Hd on the retracting direction side of the sliding ring 228d.
Here, when the expansion / contraction control unit 121 (see FIG. 1) is further operated from the state of FIG. 15 and air is further fed into the space AR in the follower 340d by sending air into the air tank 330d, the auxiliary spring 350d is also the same. As shown in FIG. 16A, the end wall 228Hd of the sliding ring 228d on the retreating direction side abuts against the contact wall 229Hd. Thereby, the other end of the auxiliary spring 350d is fixed.

  In this case, depending on the acceleration of the movable part 321d and the like, the movable part 321d may further move in the direction of the arrow in the drawing as shown in FIG. In this case, the auxiliary spring 350d with the other end already fixed contracts to become a cushion.

  On the contrary, as shown in FIG. 17, even when the diameter is reduced (when the diameter is reduced to the minimum), the expansion / contraction arm 400d is reduced in the direction of the arrow SD in the aligned state as in the fourth embodiment. Get up. In this case, the auxiliary spring 350d moves in the traveling direction F along with the movement of the sliding rings 226c and 228d.

  Further, when the expansion / contraction arm 400c is reduced to the minimum as shown in FIG. 17, the auxiliary spring 350d is accommodated in the free space Sd as in the fourth embodiment.

[Sixth Embodiment-Ultrasonic Inspection Apparatus 100e]
FIG. 18 is a schematic partial cross-sectional view of the ultrasonic inspection apparatus according to the sixth embodiment at the time of diameter expansion. FIG. 19 is a schematic partial cross-sectional view of the ultrasonic inspection apparatus according to the sixth embodiment when the diameter is reduced.

  An ultrasonic inspection apparatus 100e shown in FIGS. 18 and 19 is a modification of the ultrasonic inspection apparatus 100b according to the third embodiment. Specifically, in the internal movement unit 110e, the expansion / contraction arm 400e and its constituent arm pieces (main arm 411 piece e and link arm piece 412e), wheels 500e, and free space Se are ultrasonic waves according to the third embodiment. This is the same as the expansion / contraction arm 400b and its constituent arm pieces (main arm 411b and link arm 412b), wheel 500b, and free space Sb in the internal moving part 110b of the inspection apparatus 100b. On the other hand, instead of the shaft housing part 210b and the air cylinder 300 of the ultrasonic inspection apparatus 100b according to the third embodiment, a shaft housing part 210e and an air cylinder 300e are provided.

  In the present embodiment, as the connecting member 220e, a fixing ring 224e and a sliding ring 221e are provided from the traveling direction F side. The fixing ring 224e is fixed to the shaft housing portion 210e, and the sliding ring 221e is provided so that the shaft housing portion 210e can slide in the axial direction.

  The base end portion of the main arm piece 411e is pivotally attached to the fixing ring 224e. The base end portion of the link arm piece 412e is pivotally attached to the sliding ring 221e.

[Air cylinder]
In the present embodiment, a part of the shaft housing portion 210e constitutes the air cylinder 300e. Specifically, the end portion of the shaft housing portion 210e forms a cylinder portion, and a piston portion 321e that slides in the axial direction so as to be able to contact the inner peripheral wall of the cylinder portion is a slit formed on the side surface of the shaft housing portion 210e. It continues to the sliding ring 221e through the hole. As a result, the sliding ring 221e can move together with the movement of the piston portion 321e.

  An auxiliary spring 350e extending in the axial direction is provided between the fixing ring 224e and the sliding ring 221e. One end of the auxiliary spring 350e is fixed to the fixing ring 224e and the other end is fixed to the sliding ring 221e. . For this reason, the auxiliary spring 350e expands and contracts with the movement of the sliding ring 221e.

[Scale operation]
As shown in FIG. 18, when the diameter is expanded, the expansion / contraction control unit 121 (see FIG. 1) is operated to send air into the space AR in the air cylinder 300 e to extend in the direction of arrow E. Accordingly, the piston portion 321e moves together with the sliding ring 221e, so that the base end position of the link arm piece 412e moves in the same direction as the arrow E. At the same time, the auxiliary spring 350e is extended.
Therefore, as in the third embodiment, the expansion / contraction arm 400e expands in the direction of the arrow SU in the aligned state.

  On the other hand, as shown in FIG. 19, even when the diameter is reduced (when the diameter is reduced to the minimum), the expansion / contraction arm 400e is reduced in the direction of the arrow SD in the aligned state as in the third embodiment. Get up. At the same time, the auxiliary spring 350e applies a force to the piston portion 321e to return the auxiliary spring 350c that has been extended by the diameter expansion, so that the diameter reducing operation smoothly occurs.

  Further, when the expansion / contraction arm 400e is reduced to the minimum as shown in FIG. 19, the auxiliary spring 350e is accommodated in the free space Se as in the third embodiment.

  In the present embodiment, the auxiliary spring 350e is disposed between the fixed ring 224e and the sliding ring 221e. However, the present invention is not limited to this embodiment. For example, the auxiliary spring 350e may be disposed on the side opposite to the fixed ring 224e with respect to the sliding ring 221e in the axial direction. In this case, one of the auxiliary springs is fixed to the sliding ring 221e, and the other is fixed to the outer peripheral portion of the cylindrical portion 200e. In this case, when the diameter is expanded, the auxiliary spring contracts, and when the diameter is contracted, the returning operation of the expansion / contraction arm 400e can be assisted by the return force of the contracted auxiliary spring.

[Seventh Embodiment-Ultrasonic Inspection Apparatus 100i]
FIG. 20 is a schematic partial side view of an ultrasonic inspection apparatus according to the seventh embodiment. FIG. 21 is a schematic front view of an ultrasonic inspection apparatus according to the seventh embodiment. Each part (internal movement part 110i, expansion / contraction arm 400i, wheel 500i) which comprises the ultrasonic inspection apparatus 100i shown in FIG. 20 is each part (internal movement part 110e, expansion / contraction arm 400e, etc.) of the ultrasonic inspection apparatus e concerning 6th Embodiment. It is the same as the wheel 500e).

  In the ultrasonic inspection apparatus 100 i shown in FIG. 20, a wheel 850 is provided in the housing portion 800 i. In FIG. 20, the ultrasonic inspection apparatus 100i is in a state in which the expansion / contraction arm 400i is contracted to a minimum. When the wheel 850 provided in the housing portion 800i is in contact with the inner wall surface L, the ultrasonic inspection apparatus 100i in the inner wall surface L is stably held.

  Furthermore, when the ultrasonic inspection apparatus 100i is in the form of FIG. 20, as shown in FIG. 21, when the housing portion 800i is projected from the traveling direction F (see FIG. 20) side to the axial direction, All of 400i overlap. For this reason, the expansion / contraction arm 400i does not interfere with the radial size of the ultrasonic inspection apparatus 100i.

[Eighth Embodiment-Ultrasonic Inspection Apparatus 100e ′]
FIG. 22 is an external view of the ultrasonic inspection apparatus 100e ′ according to the eighth embodiment at the time of diameter expansion. FIG. 23 is an external view of a cable portion of the ultrasonic inspection apparatus 100e ′, and FIG. 24 is an external view of the ultrasonic inspection apparatus 100e ′ when the diameter is reduced. 25 is a cross-sectional view taken along line FF in FIG.

  Each part (internal movement part 110e ', cylinder part 200e', shaft housing part 210e ', sliding ring 221e', fixing ring 224e ', air cylinder 300e', auxiliary spring constituting the ultrasonic inspection apparatus 100e 'shown in FIG. 350e '(omitted in the broken line illustration), expansion / contraction arm 400e', main arm piece 411e ', link arm piece 412e', wheel 500e ') are each part (internal movement part 110e) of the ultrasonic inspection apparatus e according to the sixth embodiment. , Cylinder portion 200e, shaft housing portion 210e, sliding ring 221e, fixing ring 224e, air cylinder 300e, auxiliary spring 350e, expansion / contraction arm 400e, main arm piece 411e, link arm piece 412e, and wheel 500e). The ultrasonic inspection apparatus 100e 'is the same as each part of the ultrasonic inspection apparatus 100e, except that each part is changed to a size suitable for further compaction and the like.

  In FIG. 22, the wiring of the cable 130 of the ultrasonic inspection apparatus 100e 'is also shown. The cable 130 includes an air cable 133 communicating with the air cylinder 300 e ′, a motor cable 136 of the hollow shaft motor 610, and a probe cable 137 of the ultrasonic probe 710.

  As shown in FIG. 22, the air cable 133 is wired outside from the end surface in the retracting direction of the shaft housing portion 210 e ′. The motor cable 136 exiting from the housing 800 is wired along the cylinder part 200e 'in the backward direction. The probe cable 137 passes through the shaft housing 210e 'and is inserted into the air cable 133 wired from the end surface in the backward direction.

Further, as shown in FIG. 23, the motor cable 136 and the air cable 133 into which the probe cable 137 is inserted are connected to the motor cable 136 and the probe in the air cable 134 that communicates with the air cable 133 via the repeater 135. Rewiring is performed with both of the tentacle cables 137 inserted. The air cable 134 is connected to the compressor.
As a material for the air cable 134, a flexible resin tube may be used. If necessary, a flexible shaft body such as a metal wire may be further provided along the inside or the outer periphery of the air cable 134. Accordingly, the ultrasonic inspection apparatus 100e ′ can be easily inserted into the tube by holding the air cable 134.

  As shown in FIG. 24 and FIG. 25, the ultrasonic inspection apparatus 100e ′ when the diameter is most reduced is such that all of the expansion / contraction arm 400e ′ and the wheel 500e ′ overlap in the projection in the axial direction of the housing portion 800. It will be compact. In this case, the motor cable 136 wired outside from the housing portion 800 is located between the folded expansion / contraction arm 400e ′ at the outer peripheral portion of the cylindrical portion 200e ′, so that the ultrasonic inspection apparatus 100e ′ can be made compact. There is no problem. Note that the ultrasonic inspection apparatus 100e ′ slightly expands the diameter of the wheel 500e ′ so that a part of the wheel 500e ′ protrudes from the projection when the diameter is reduced to the maximum, so that the expansion / contraction arm in the tube is expanded. The diameter expanding operation may be made easier.

  In FIG. 26, an ultrasonic inspection apparatus 100e 'is taken as an example, and a mode of changing the direction in the cheese mold tube will be described. In FIG. 26, a pipe T into which the ultrasonic inspection apparatus 100e 'is inserted is a cheese-type pipe used for a fire hydrant, for example. The insertion port of the tube T is, for example, a small diameter tube having an inner diameter of 75 mm. The ultrasonic inspection apparatus 100 e ′ is inserted from the insertion port in the most contracted state, and when it reaches the branch portion of the tube T, the direction is changed while maintaining the contracted state. The ultrasonic inspection apparatus of the present invention exemplified by the ultrasonic inspection apparatus 100e ′ is designed to be compact in both the radial direction and the axial direction with respect to the axial center, thereby enabling 90-degree direction conversion in the tube. .

[Other examples]
In another example, a modification example not shown will be described.

[Modification of shaft housing]
In the above-described embodiment, the mode in which the shaft portion is the cylindrical portion 200, 200a, 200b having the shaft housing portion 210 has been described, but the embodiment is not limited thereto. For example, the shaft portion may be a solid bar shape. Moreover, in the above-mentioned embodiment and other examples, the example in which the cross section of the shaft housing part 210 is circular was given, but the shape of the cross section is not limited to this. For example, arbitrary shapes, such as polygons, such as a rectangle and a hexagon, and those deformation | transformation shapes are accept | permitted.

  Furthermore, in the above-described embodiment, the connecting members 220, 220a, 220b, 220d, 220e, and 220e ′ are those in which the shaft-attached portion is provided on the ring portion having a circular cross section. However, the present invention is limited to this embodiment. Is not to be done. For example, an arbitrary shape such as a polygon such as a quadrangle and a hexagon and a deformed shape thereof is allowed for the outer periphery of the cross section of the ring portion. Further, only the shaft attachment portion may be fixed to the shaft housing portion 210 instead of the connecting member that does not slide.

[Modification example of expansion and contraction part]
In the above-described embodiment, the example in which the expansion / contraction part is the air cylinders 300, 300 c, 300 d, 300 e, and 300 e ′ that can be controlled by the expansion / contraction control part 121 has been described. If it has, it will not specifically limit. For example, a hydraulic spring, an air spring, and a coil spring that drives the movable part by electrical control may be used. In this case, the coil spring may be arranged at the outer peripheral portion of the cylindrical portions 200, 200 a,..., 200 e, 200 i, 200 e ′, or so as to be coaxial with the axial center of the shaft housing portion 210. It may be arranged. In either case, the diameter can be reduced and expanded in the pipe.

  In the above-described embodiment, the mode in which the air cylinder 300 extends in the axial direction has been described. However, the present invention is not limited to this. For example, the air cylinder 300 is provided so as to extend in the radial direction. In this case, both ends of the air cylinder are fixedly connected to a connecting member that does not slide and to any of the arm pieces constituting the expansion / contraction arms 400, 400a, 400b.

[Modification of expansion / contraction arm]
In the above-described embodiment, the aspect in which the number of the expansion / contraction arms 400, 400a,..., 400e, 400i, and 400e ′ is 3 or 6 has been described, but the embodiment is not limited thereto. The number of expansion / contraction arms may be plural.

  In the above-described embodiment, the expansion / contraction arm 400, 400a, ..., 400e, 400i, 400e 'has been described as having a specific link mechanism. Any other mechanism is acceptable as long as it is a link mechanism that links the expansion / contraction operation of the air cylinders 300, 300c, 300d, 300e, 300e ′ with the expansion / contraction operations of the expansion / contraction arms 400, 400a,. The

[Modified example of combination of expansion / contraction part and expansion / contraction arm]
For example, instead of the ultrasonic inspection apparatus 100 according to the first embodiment, the ultrasonic inspection apparatus 100a according to the second embodiment, and the air cylinder 300 of the ultrasonic inspection apparatus 100b according to the third embodiment, the fourth embodiment is used. The air cylinder 300c of the ultrasonic inspection apparatus 100c, the air cylinder 300d of the ultrasonic inspection apparatus 100d according to the fifth embodiment, and the air of the ultrasonic inspection apparatuses 100e, 100i, and 100e 'according to the sixth to eighth embodiments. Any of the cylinders 300e and 300e ′ can be arbitrarily combined.

[Modified examples of running section]
In the above-described embodiment, the traveling unit is the wheels 500, 500a,..., 500e, 500i, and 500e ′, but is not limited thereto. For example, a caterpillar may be used. In that case, for example, a pair of gears are coaxially attached to both ends of the synchronization arm piece 414 in the axial direction so as to sandwich the synchronization arm piece 414, and a caterpillar is wound around each gear.
The wheels may be self-propelled having a drive mechanism. Furthermore, the traveling unit may be capable of traveling by a water injection mechanism.

[Modification of detection unit]
In the above-described embodiment, an example in which a part of the ultrasonic probe 710 (specifically, the ultrasonic wave propagation part 712) is inserted into the hollow part of the hollow rotating member 611 has been described. The amount of insertion is not limited to this mode. All of the ultrasonic probe 710 may be inserted into the hollow portion of the hollow rotating member 611, or conversely, all of the ultrasonic probe 710 may be disposed outside the hollow portion of the hollow rotating member 611. Good. In the latter case, the ultrasonic probe 710 may be fixed in the shaft housing part 210.

[Variation of rotation sensor]
In the above-described embodiment, the position marker 771 is fixed to the hollow rotating member 611. However, the position marker 771 is fixed to the rotating holder 724 of the acoustic reflector 720 as long as the position marker 771 can be detected by the sensor 772. May be. In the above-described embodiment, the rotation sensor is the one-rotation sensor 770. However, the present invention is not limited to this. For example, a rotary encoder may be used.

[Modification of the casing]
In the above-described embodiment, the case in which the casing units 800 and 800i include the detection unit 700 has been described. However, other components may be further included. Examples of other components include an imaging device and illumination (LED as an example). These components can be provided at the ends of the casings 800 and 800i on the traveling direction side. Thereby, an ultrasonic inspection can be performed while photographing while illuminating the inside of the tube.

  In addition to the above, other components that can be connected to the end portions of the housing portions 800 and 800i on the traveling direction side include connectable portions. The connectable part is a part that can be detachably connected to the connecting member, for example, by engagement or fitting. An example of usage of such a connectable part will be described as follows.

  A pulling member such as a cable with a connecting member (for example, a hook) is inserted into the pipe from the opening end located on the traveling direction side, which is different from the entrance where the ultrasonic inspection apparatus is inserted, of the pipe to be measured, After the connecting member is connected to the connectable portion provided in the housing parts 800 and 800i, the ultrasonic inspection apparatus can be advanced in the traveling direction by pulling the pulling member out of the opening end. it can.

[Modification of internal moving part]
In the above-described embodiment, an example in which one internal moving unit 110, 110a,..., 110e, 110i, 110e ′ is provided for one ultrasonic inspection apparatus 100, 100a,..., 100e, 100i, 100e ′. It is not limited to this aspect. One ultrasonic inspection apparatus 100, 100a, ..., 100e, 100i, 100e 'may have a plurality of mutually connected internal moving units 110, 110a, ..., 110e, 110i, 110e'.

[Effects achieved by the embodiment and other examples]
The ultrasonic inspection apparatuses 100, 100a,..., 100e, 100i, and 100e 'are expanded so that the expansion / contraction arms 400, 400a, ..., 400e, 400i, and 400e' stretch toward the inner wall L when inserted into the tube. Then, the wheels 500, 500a,..., 500e, 500i, 500e ′ come into contact with the inner wall surface L. Thereby, the ultrasonic inspection apparatuses 100, 100a,..., 100e, 100i, 100e ′ are held. The expansion / contraction of the expansion / contraction arms 400, 400a,..., 400e, 400i, 400e ′ can be performed by expansion / contraction of the air cylinders 300, 300c, 300d, 300e, 300e ′. For this reason, the diameter reduction and diameter expansion in a pipe become free.

  In addition, since the acoustic reflector 720 is rotatably provided, the ultrasonic probe 710 can be provided in a fixed state. As a result, the size of the ultrasonic inspection apparatus 100, 100a,..., 100e, 100i, 100e ′ in the radial direction centered on the axis of the cylindrical portion 200, 200a,. The size of the expansion / contraction arms 400, 400a,..., 400e, 400i, 400e ′ can be made compact.

  Further, since the ultrasonic wave is transmitted through the hollow portion of the hollow rotating member 611 by using the hollow shaft motor 610 for the rotation of the acoustic reflecting portion 720, the ultrasonic probe 710 itself is connected to the cylindrical portion 200, 200a,..., 200e, 200i, 200e ′ can be arranged coaxially. This also makes it possible to make the size of the ultrasonic inspection apparatuses 100, 100a,..., 100e, 100i, 100e 'in the radial direction compact.

  The rod 311 of the air cylinders 300, 300c, 300d, 300e, and 300e ′, the movable portions 321c and 321d of the air cylinders 300c and 300d, and the piston 321e of the air cylinders 300e and 300e ′ are cylindrical portions 200, 200a, to 200e, 200i. , 200e 'is provided so as to move in the axial direction, and the size of the radiation direction of the ultrasonic inspection apparatus 100, 100a, ..., 100e, 100i, 100e' when the expansion / contraction arm is most contracted is compact. Can be.

  Since the air cylinder 300 is fixed to the connecting members 220, 220a, 220b so as to expand and contract in the axial direction of the cylindrical portions 200, 200a, 200b, the radial direction, that is, the expansion / contraction direction SU of the expansion / contraction arms 400, 400a, 400b. , Does not expand or contract to SD. Therefore, even when the air cylinder 300 is disposed on the outer peripheral portion of the cylindrical portions 200, 200a, 200b, the size of the ultrasonic inspection apparatus 100, 100a, 100b in the radial direction when the expansion / contraction arm is most contracted is made compact. be able to.

  Since the air cylinders 300c and 300d include the entire shaft housing portions 210c and 210d, and the air cylinders 300e and 300e ′ include a part of the shaft housing portion 210e, the ultrasonic inspection apparatuses 100c, 100d, 100e, 100i, and 100e ′. The size of the radiation direction can be made compact.

  In the ultrasonic inspection apparatuses 100, 100a,..., 100e, 100i, 100e ′, the expansion / contraction arms 400, 400a,..., 400e, 400e ′ have the free spaces S, Sa,. ,..., 400e, 400e ′, when at least some of the air cylinders 300, 300c, 300d, 300e, 300e ′ are accommodated in the free spaces S, Sa,. For this reason, when the expansion / contraction arms 400, 400a,..., 400e, 400e ′ are most contracted, the sizes of the ultrasonic inspection apparatuses 100, 100a,..., 100e, 100i, 100e ′ can be made compact. .

  The ultrasonic inspection apparatuses 100, 100a,..., 100i, 100e ′ project the casings 800, 800i in the axial direction when the expansion / contraction arms 400, 400a,..., 400e, 400i, 400e ′ are most contracted. Furthermore, since the expansion / contraction arms 400, 400a,..., 400e, 400i, 400e ′ overlap, the size in the radial direction can be made compact.

  The expansion / contraction arms 400a,..., 400e, 400i, 400e ′ extend substantially along the axis O of the cylindrical portions 200a,..., 200e, 200e ′ when contracted most, and the fixing rings 224a, 224c, 224e, 224e. Because it has a simple structure that rotates at a rotation angle that does not exceed 90 degrees, centering on the shaft attachment part of ', it can be made compact in the radial direction and compact in the axis O direction. can do. Therefore, since the space occupied by the trajectory of the expansion / contraction arms 400a to 400e, 400i, and 400e 'can be reduced, the direction in the branch pipe such as the cheese pipe T can be easily changed.

  Further, the expansion / contraction arms 400b,..., 400e, 400i, and 400e ′ are provided with fixing rings 224c to 224e and 224e ′ provided at two locations on the advancing direction side in the axis O direction and the retreat walking side. Since the expansion / contraction arms 400b,..., 400e, 400i, 400e ′ to be worn are opposite in the direction of the axis O, the space occupied by the movement trajectory of the expansion / contraction arms 400b,. In addition, the ultrasonic inspection apparatuses 100b to 100e, 100i, and 100e 'can be stably held in the tube.

  The expansion / contraction arms 400a,..., 400e, 400i, 400e ′ are composed of main arm pieces 411a,..., 411e, 411e ′ having wheels 500a,. 412a,..., 412e, 412e ′ form a link mechanism. Thus, the expansion / contraction arm of the air cylinders 300, 300c, 300d, 300e, 300e ′ can be expanded and contracted by the link mechanism having a simple structure. 400a,..., 400e, 400i, 400e ′ can be linked to the expansion / contraction operation.

  Since a part of the ultrasonic probe 710 is disposed in the hollow portion of the hollow rotating member 611, the size of the ultrasonic inspection apparatuses 100, 100a,..., 100e, 100i, 100e ′ in the axial direction is set. It can be made compact.

  Since the air cylinders 300c, 300d, 300e, and 300e ′ have auxiliary springs 350c, 350d, 350e, and 350e ′ that assist the return from the expansion operation of the expansion and contraction arms 400c, 400d, 400e, 400i, and 400e ′, The operations of 400c, 400d, 400e, 400i, and 400e ′ become smoother.

  The ultrasonic inspection apparatuses 100, 100a,..., 100e, 100i, and 100e ′ are air cylinders 300, 300c, 300d, 300e, and 300e ′ whose expansion and contraction parts are driven by atmospheric pressure. The danger of contamination, ignition, electric shock, etc. in the pipe is avoided, and expansion / contraction operation with a simple structure is possible.

  Since the ultrasonic inspection apparatuses 100, 100a,..., 100e, 100i, and 100e ′ can operate the air cylinders 300, 300c, 300d, 300e, and 300e ′ by the expansion / contraction control unit 121 after being inserted into the tube, the expansion / contraction arm can be remotely operated. Can be scaled freely.

  By including the rotation sensor 770, the ultrasonic inspection apparatuses 100, 100a,..., 100e, 100i, 100e ′ can accurately determine the circumferential position of the inner wall L to be inspected by ultrasonic waves.

[Correspondence Relationship Between Each Part in Embodiment and Other Examples and Each Component in Claim]
In the present invention, the ultrasonic inspection devices 100, 100a,..., 100e, 100i, and 100e ′ correspond to “ultrasonic inspection devices”, the expansion / contraction control unit 121 corresponds to “extraction / contraction control unit”, and the cylindrical portion 200, 200a,..., 200e, 200i, 200e ′ correspond to the “shaft portion”, the connecting members 220, 220a,..., 220e correspond to the “outer peripheral portion”, and the air cylinders 300, 300c, 300d, 300e, 300e ′. Corresponds to the “expandable part”, the rod 311, the movable parts 321c and 321d, and the piston 321e correspond to the “movable part”, and the auxiliary springs 350c, 350d, 350e, and 350e ′ correspond to the “auxiliary spring”. The arms 400, 400a,..., 400e, 400i, 400e ′ correspond to “expansion / contraction arms”, and the main arm pieces 411a,. The link arm pieces 412a,..., 412e, 412e ′ correspond to “short arm pieces”, the wheels 500, 500a,..., 500e, 500i, 500e ′ correspond to “travel portions”, and are hollow. The shaft motor 610 corresponds to a “hollow shaft motor”, the hollow rotating member 611 corresponds to a “hollow rotating member”, the non-rotating member 612 corresponds to a “non-rotating member”, and the ultrasonic probe 710 The acoustic reflection 720 corresponds to the “acoustic reflection unit”, the one-turn sensor 770 corresponds to the “rotation sensor”, the position marker 771 corresponds to the “position marker”, and the sensor 772 corresponds to the “acoustic probe”. Corresponding to “sensor for detecting position markers”, the housing parts 800 and 800i correspond to “housing parts”, the free spaces S, Sa,... Equivalent to “heart” The row direction F corresponds to the "direction of travel".

  Preferred embodiments of the present invention are as described above, but the present invention is not limited to them, and various other embodiments are possible without departing from the spirit and scope of the present invention. Furthermore, the operations and effects described in this embodiment are merely examples, and do not limit the present invention.

100, 100a,..., 100e, 100i, 100e 'Ultrasonic inspection device 121 Expansion control part 200, 200a, ..., 200e, 200i, 200e' Tube part 220, 220a, ..., 220e Connecting member 300, 300c, 300d, 300e, 300e 'Air cylinder 311 Rod 321c, 321d Movable part 321e Piston 350c, 350d, 350e, 350e' Auxiliary spring expansion / contraction arm 400, 400a, ..., 400e, 400i, 400e 'Expansion / contraction arm 411a, ..., 411e, 411e' Main Arm piece 412a, ..., 412e, 412e 'Link arm piece 500, 500a, ..., 500e, 500i, 500e' Wheel 610 Hollow shaft motor 611 Hollow rotating member 612 Non-rotating member 710 Ultrasonic probe 720 Acoustic reflector 770 Rotation sensor 77 1 Position marker 772 Sensor 800, 800i Housing part S, Sa, ..., Se Free space O Axis center F Traveling direction

Claims (13)

An ultrasonic inspection device that emits ultrasonic waves toward the inner wall of a tube,
The shaft,
A plurality of expansion / contraction arms projecting from the outer peripheral portion of the shaft portion and capable of expanding / contracting in a radial direction around the axis of the shaft portion;
A traveling part provided on the expansion / contraction arm;
A telescopic part for expanding and contracting the expansion / contraction arm;
A telescopic control unit for remotely operating the telescopic unit;
A hollow shaft motor connected to the shaft portion,
A hollow shaft motor including a hollow rotating member and a non-rotating member surrounding the hollow rotating member;
An ultrasonic probe that is connected and fixed to the non-rotating member and arranged to transmit ultrasonic waves in the axial direction;
Wherein in conjunction with the hollow rotary member rotatably provided, and the ultrasound, see containing and a sound reflecting part for reflecting the radial direction from the axial direction,
An ultrasonic inspection apparatus in which at least a part of the ultrasonic probe is disposed in a hollow portion of the hollow rotating member .   The ultrasonic inspection apparatus according to claim 1, wherein the movable part of the extendable part is provided so as to move in the axial direction of the shaft part.   The ultrasonic inspection apparatus according to claim 1, wherein the expansion / contraction portion is disposed on the outer peripheral portion of the shaft portion such that the expansion / contraction portion expands and contracts in an axial direction of the shaft portion.   The ultrasonic inspection apparatus according to claim 1, wherein the stretchable part constitutes at least a part of the shaft part. The expansion / contraction arm has a receiving portion;
5. The ultrasonic inspection apparatus according to claim 1, wherein when the expansion / contraction arm is most contracted, the expansion / contraction part is accommodated in the accommodation part. Including at least a housing portion for accommodating the hollow shaft motor;
The ultrasonic inspection apparatus according to any one of claims 1 to 5, wherein when the expansion / contraction arm is most contracted, the entire expansion / contraction arm overlaps the projection of the housing portion in the axial direction. . It said plurality of scaling arms each base end, said axis in center direction, is pivotally mounted in two places between the side of the side and the other one end of the shaft portion, the scaling arm which is arranged on the side of the one end The ultrasonic inspection apparatus according to claim 1, wherein the expansion / contraction arm disposed on the other end side is opposite in the axial direction. The expansion / contraction arm has a long arm piece with the traveling portion disposed at the tip and a short arm piece shorter than the long arm piece to form a link mechanism,
The ultrasonic wave according to claim 2 , wherein the short arm piece has a base end rotatably connected to the movable part of the telescopic part and a tip end rotatably connected between the tip end and the base end of the long arm piece. Inspection device. The extendable portion has an auxiliary spring which assists the operation of the scaling arm, ultrasonic inspection apparatus according to any one of claims 1 to 8. The extendable portion is intended to be driven by pressure, ultrasonic inspection apparatus according to any one of claims 1 to 9. The ultrasonic inspection apparatus according to claim 10 , wherein the extendable part is an air cylinder. A position marker provided on the hollow rotary member or the acoustic reflector portion, said provided continuously secured to the ultrasound probe, comprising a rotation sensor including a sensor for detecting the position marker, claims 1 to 11 The ultrasonic inspection apparatus according to any one of the above. The ultrasonic inspection method of carrying out ultrasonic inspection of the inside of a pipe | tube using the ultrasonic inspection apparatus of any one of Claim 1 to 12 .

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