JP6523553B2 - Pipe nondestructive inspection device - Google Patents

Description

  The present invention relates to a pipe nondestructive inspection apparatus, and more particularly, to a pipe nondestructive inspection apparatus for generating a radiation source on a radiation film provided at the outer peripheral edge of a pipe while traveling inside the pipe.

  Nondestructive inspection is performed to confirm the weld quality after pipe welding. As an example of nondestructive inspection, a radiation film is placed along the periphery of the welding surface of the pipe, a radiation source is inserted inside the pipe, and the welding state is confirmed by whether radiation is detected in the radiation film . Because the radiation detection amount decreases in inverse proportion to the square of the distance of the radiation source, it is necessary to position the radiation source on the central axis of the pipe in order to accurately determine the weld defect part. When the pipe is a bent pipe, it is difficult to position the radiation source accurately on the central axis of the pipe, which may reduce the measurement accuracy of the nondestructive inspection.

  The problem to be solved by the present invention is to provide a pipe nondestructive inspection device capable of positioning a radiation source on a central axis of a pipe in a curved pipe to improve measurement accuracy of the nondestructive inspection.

  The object of the present invention is not limited to the above-mentioned problems, and other problems not mentioned above will be clearly understood by those skilled in the art from the following description.

  In order to solve the above-mentioned problems, an aspect of the pipe nondestructive inspection apparatus of the present invention is a pipe including a body and a wheel provided at the end of the body and provided at the expanded end. And a monitoring unit for monitoring the inside of the pipe, and a monitoring unit for monitoring the inside of the pipe, and the body unit rotates along the circumference of the pipe according to the monitoring result. A travel control device for controlling a traveling portion, a guide tube installed in the body portion and guiding a feeding tube having a radiation source on the distal side for nondestructive inspection of the pipe, and the body portion And a first tube driver for moving in a first direction.

  Here, traveling portions are provided on both sides opposite to the body portion, and two or more traveling portions parallel to the traveling direction are provided on one side of the body portion.

  Further, the travel control device controls the rotational speed of the wheels provided in each of the plurality of traveling portions so as to correspond to the shape of the pipe.

  In addition, each of the plurality of traveling parts includes a first leg supporting the provided wheels and a second leg partially overlapping with the first leg, and an overlapping interval of the first leg and the second leg Is adjusted to adjust the distance of the wheel relative to the body portion.

  Further, the distance between the body portion and the wheels provided to each of the plurality of traveling portions is independently adjusted.

  In the travel control device, when there is an obstacle ahead of the moving direction or a depressed portion of the inner wall of the pipe is present based on the monitoring result, the body part is along the circumference of the pipe The traveling unit is controlled to rotate.

  Also, the pipe nondestructive inspection apparatus is provided with a running part on each side opposite to the body, and adjusts the width between the wheels of the running part provided on each side opposite to the body. It further includes a width adjustment unit.

  Further, the width adjusting unit may be provided between the wheels of the running part provided on both sides opposite to the body so that the force of the wheels of the running part pressing the inner wall of the pipe is maintained constant. Adjust the width of the

  The travel control apparatus may further include a position displacement sensor that determines a position of the pipe nondestructive inspection device inside the pipe, and the travel control device may refer to a position of the pipe nondestructive inspection device inside the pipe determined. The traveling portion is controlled so that the center of the body portion coincides with the central axis of the pipe.

  Further, the pipe nondestructive inspection apparatus calculates and calculates the rotation angle of the guide tube so that the radiation source exposed on the distal side of the guide tube is positioned on the central axis of the pipe. The apparatus may further include an inspection control device that controls the first tube drive according to an angle.

  The pipe nondestructive inspection apparatus further includes a position recognition unit for recognizing a position of the body portion in the pipe, and the inspection control device is based on the position of the body portion and the design information of the pipe. The rotation angle of the guide tube is calculated.

  Further, when at least a part of the pipe nondestructive inspection device is located in a curved pipe of the pipe, the inspection control device is configured to select the position based on the position of the body portion, the inner diameter of the pipe, and the curvature of the curved pipe. Calculate the rotation angle of the guide tube.

  The nondestructive inspection system further includes a radiation film disposed along an outer peripheral edge of the welded portion of the pipe, and the inspection control device is arranged such that the radiation source is located at a central portion of the radiation film. To control the first tube driver.

  The nondestructive inspection apparatus may further include a feeding device for inserting the feeding tube into the guide tube to transfer the radiation source of the feeding tube to the distal side of the guide tube.

  The feeding device may include a feeding gear member coupled to a gear portion of an outer peripheral surface of the feeding tube, and a driving member for driving the feeding gear member.

  The nondestructive inspection apparatus may further include a second tube driving unit for moving the guide tube in a second direction perpendicular to the first direction with respect to the body portion.

  Further, the pipe nondestructive inspection device is configured to measure the roll angle of the body portion, the radiation source based on the position of the body portion, the roll angle of the body portion, and the design information of the pipe. Calculating a first rotation angle of the guide tube in the first direction and a second rotation angle in the second direction so that the guide tube is positioned on the central axis of the pipe; And a test control device that controls the first tube drive unit according to the control and controls the second tube drive unit according to the second rotation angle.

  Specific items of the other embodiments are included in the detailed description and the drawings.

It is a side view of pipe nondestructive inspection device 100 concerning one embodiment of the present invention. It is a top view of pipe nondestructive inspection device 100 concerning one embodiment of the present invention. It is a front view of pipe nondestructive inspection device 100 concerning one embodiment of the present invention. It is a perspective view which expands and shows "B" part of FIG. It is a perspective view which expands and shows "C" part of FIG. It is a figure for demonstrating the operation | movement and effect of the pipe nondestructive inspection apparatus which concerns on one Embodiment of this invention. It is a figure for demonstrating the pipe nondestructive inspection apparatus which concerns on other embodiment of this invention, Comprising: It is a perspective view which shows the part corresponding to the "C" part of FIG. It is a top view for demonstrating the operation | movement and effect of the pipe nondestructive inspection apparatus which concern on embodiment of FIG. It is a top view for demonstrating the operation | movement and effect of the pipe nondestructive inspection apparatus which concern on embodiment of FIG. FIG. 10 is a cross-sectional view taken along the lines D-D 'and E-E' of FIG. 9; It is a perspective view of the pipe nondestructive inspection device concerning other embodiments of the present invention. It is a left side view of a pipe nondestructive inspection device concerning other embodiments of the present invention. It is a right side view of the pipe nondestructive inspection device concerning other embodiments of the present invention. FIG. 7 illustrates adjustment of the width between the wheels according to an embodiment of the present invention. FIG. 7 shows adjustment of the length of the wheel according to an embodiment of the present invention. It is a block diagram showing a control device concerning other embodiments of the present invention. It is a figure which shows that the pipe nondestructive inspection apparatus which concerns on other embodiment of this invention drive | works the inside of a pipe. The pipe nondestructive inspection device concerning another embodiment of the present invention is a figure showing running inside the pipe whose diameter is changed. The pipe nondestructive inspection device concerning another embodiment of the present invention is a figure showing running inside the pipe whose diameter is changed. It is a figure which shows that the pipe nondestructive inspection apparatus which concerns on other embodiment of this invention drive | works the inside of the pipe in which the curvature area is contained. It is a figure which shows that the pipe nondestructive inspection apparatus which concerns on other embodiment of this invention rotates along the circumference of a pipe. It is a figure which shows driving | running | working, after the pipe nondestructive inspection apparatus which concerns on other embodiment of this invention rotates inside a pipe. It is a figure which shows driving | running | working, after the pipe nondestructive inspection apparatus which concerns on other embodiment of this invention rotates inside a pipe. It is a figure which shows driving | running | working, after the pipe nondestructive inspection apparatus which concerns on other embodiment of this invention rotates inside a pipe. It is a figure which shows that the pipe nondestructive inspection apparatus which concerns on other embodiment of this invention judges the center position in the inside of a pipe. It is a figure which shows that the pipe nondestructive inspection apparatus which concerns on other embodiment of this invention correct | amends the center position in the inside of a pipe.

  Hereinafter, preferred embodiments of the present invention will be described in detail with reference to the accompanying drawings.

  The advantages, features and manner of achieving the invention will become clearer with reference to the embodiments described in detail below in conjunction with the attached drawings. However, the present invention is not limited to the embodiments disclosed below, but can be realized in various forms different from one another. However, the present embodiment is merely provided for the complete disclosure of the present invention, and for providing a person of ordinary skill in the technical field to which the present invention belongs with a complete understanding of the scope of the present invention. And, the invention is only defined by the scope of the claims. Like numbers refer to like elements throughout the specification.

  Unless otherwise defined, all terms (including technical and scientific terms) used in the present invention can be used in a meaning that can be commonly understood by those skilled in the art to which the present invention belongs. is there. Also, terms defined in commonly used dictionaries are not to be interpreted as ideal or excessive unless specifically defined.

  FIG. 1 is a side view of a pipe nondestructive inspection apparatus 100 according to an embodiment of the present invention, FIG. 2 is a plan view of the pipe nondestructive inspection apparatus 100 according to an embodiment of the present invention, and FIG. It is a front view of pipe nondestructive inspection device 100 concerning a form.

  1 to 3, the pipe nondestructive inspection apparatus 100 travels the inside of the pipe 10 and directs a radiation source toward the radiation film 20 installed along the outer peripheral edge of the welded portion 12 of the pipe 10. generate. If no radiation is detected from the radiation film 20, it is determined that the weld 12 of the pipe 10 is not defective. If radiation is detected from the radiation film 20, it is determined that the welded portion 12 of the pipe 10 has a defect, and the operator grasps the welding defect position based on the position of the radiation film 20 at which the radiation is detected. Perform additional welding to the weld defect position.

  The pipe nondestructive inspection apparatus 100 includes a body portion 110, a wheel portion 120, a drive portion 130, a guide tube 140, a first tube drive portion 150, a position recognition portion 160, a feeding device 170, and an inspection control device (not shown). Can be included.

  The body portion 110 is located on the central axis of the pipe 10 and travels inside the pipe 10. A wheel unit 120, a drive unit 130, a guide tube 140, a first tube drive unit 150, a position recognition unit 160, and a feeding device 170 are installed in the body unit 110.

  The wheel portion 120 supports the body portion 110 on the inner surface of the pipe 10. In one embodiment, the wheel unit 120 can include a traveling wheel 121 and an adjusting device 122. In the illustrated example, four traveling wheels 121, two each at the upper and lower portions of the body portion 110, are installed, but the number and position of the traveling wheels 121 can be changed variously.

  The adjusting device 122 adjusts the distance between each traveling wheel 121 and the body portion 110. The adjusting device 122 can adjust the distance between the traveling wheel 121 and the body 110 in accordance with the inner diameter of the pipe 10. The adjusting device 122 can adjust the position of each traveling wheel 121 by a hydraulic cylinder, a motor or the like.

  The adjusting device 122 can adjust the position of the traveling wheel 121 in the radial direction of the pipe 10 so that each traveling wheel 121 is disposed on the same distance from the central axis of the pipe 10. Thus, the body portion 110 is positioned on the central axis of the pipe 10 by the wheel portion 120.

  The wheel unit 120 can also include a shock absorber such as a spring that presses the traveling wheel 121 against the inner surface of the pipe 10. The driving unit 130 drives the wheel unit 120 to cause the body unit 110 to travel along the pipe 10. As the driving unit 130, a driving motor that rotationally drives the traveling wheel 121 can be provided.

  The feeding tube T comprises a radiation source S at the end side for nondestructive inspection of the pipe 10. The radiation source S can generate radiation such as X-rays, γ-rays and β-rays.

  The guide tube 140 is disposed on the front side of the body portion 110 and guides the feeding tube T. The radiation source S is supplied to the distal side of the guide tube 140 by the feeding device 170.

  FIG. 4 is an enlarged perspective view of a portion “B” of FIG. Referring to FIG. 4, the feeding device 170 can insert the feeding tube T into the guide tube 140 to transfer the radiation source S of the feeding tube T to the distal side of the guide tube 140. The feeding device 170 includes a support plate 171 provided on the rear side of the body portion 110, a motor housing 172 installed on the support plate 171, a drive motor 173 (drive member) installed in the motor housing 172, and a drive motor 173. And a coupling portion 176 formed at one side of the motor housing 172 so that the feeding tube T can be inserted.

  In the motor housing 172, an insertion tube 175 is provided in which the feeding tube T is inserted.

  The insertion tube 175 is provided with an opening, and the feeding gear member 174 is geared to the gear provided on the outer surface of the feeding tube T via the opening. When driving the drive motor 173, the feeding tube T moves to the front side of the body portion 110 via the guide pipe of the body portion 110 and is inserted into the guide tube 140. Thus, the radiation source S provided on the distal side of the feeding tube T is exposed through the distal end of the guide tube 140.

  Referring again to FIGS. 1 to 3, the position recognition unit 160 is provided to recognize the position of the body 110 in the pipe 10. In the illustrated example, the position recognition unit 160 is installed on the lower surface of the end of the guide tube 140, but the installation position of the position recognition unit 160 is not limited thereto. In one embodiment, the position recognition unit 160 may be a camera and an image processing unit. For example, the image processing unit can recognize the welding surface from the image inside the pipe 10 photographed by the camera, and can recognize the position of the body portion 110 in the pipe 10. In another embodiment, the position recognition unit 160 measures the movement distance of the body unit 110 by means such as an encoder provided to the wheel unit 120, and recognizes the position of the body unit 110 by other methods. Can.

  The first tube drive unit 150 rotates the guide tube 140 in the first direction with respect to the body unit 110. In one embodiment, the first direction may be the lateral direction of the body portion 110.

  FIG. 5 is an enlarged perspective view of a portion "C" of FIG. Referring to FIGS. 1 to 3 and 5, the first tube drive unit 150 is installed on a support plate 151 provided on the front side of the body 110, a drive housing 152 fixed to the support plate 151, and a drive housing 152. The drive motor 153, the drive pulley 154 coupled to the drive shaft of the drive motor 153, the driven pulley 156 coupled to the drive pulley 154 via the belt 155, and the driven pulley 156 coupled to the guide pulley 140 A rotating member 157 connected to one side, a connecting member 158 connecting the rotating arm 157 and the guide tube 140, and a fixing member 159 fixing the connecting member 158 to the guide tube 140.

  Referring again to FIGS. 1 to 3, the inspection control device (not shown) is configured to rotate the guide tube 140 such that the radiation source S exposed on the distal side of the guide tube 140 is positioned on the central axis of the pipe 10. The movement angle is calculated, and the first tube drive unit 150 is controlled in accordance with the calculated rotation angle. Thereby, the drive motor 153 is driven, and the driven pulley 156 is rotated by the drive pulley 154 to rotate the rotary arm 157, whereby the guide tube 140 is rotated in the left-right direction on the basis of the central axis of the driven pulley 156.

  The inspection control device can calculate the rotation angle of the guide tube 140 based on the position of the body portion 110 and the design information of the pipe 10. FIG. 6 is a figure for demonstrating the operation | movement and effect of the pipe nondestructive inspection apparatus based on one Embodiment of this invention. Referring to FIG. 6, the body portion 110 moves along the central axis of the pipe 10, but the radiation source S can not be located at the center of gravity of the body portion 110 because of nondestructive inspection characteristics. Since at least a part of the nondestructive inspection apparatus 100 is positioned in a curved tube, the radiation source S is exposed in a state where the guide tube 140 is not rotated by the first tube drive unit 150. It is separated from the central axis of the pipe 10 as shown by the broken line in FIG. In such a case, since the radiation detection amount decreases in inverse proportion to the square of the distance from the radiation source S, stronger radiation is detected from the radiation film close to the radiation source S, and weak radiation from the radiation film far from the radiation source S In some cases, weld defects can not be measured accurately because

  According to the present embodiment, the first tube drive unit 150 is driven according to the position of the body portion 110 and the design information of the pipe 10 (for example, the inner diameter of the pipe, the curvature of the curved pipe, etc.) As shown by the arrows, the guide tube 140 is rotated so that the radiation source S is located at the central axis of the pipe 10 (the central part of the radiation film) to improve the measurement accuracy of nondestructive inspection. be able to. The feeding tube T may be made of a flexible material so that the feeding tube T can be bent like the guide tube 140.

  In the illustrated example, the first tube drive unit 150 is configured to rotate the guide tube 140, but as the first tube drive unit 150, the guide tube 140 is moved in a first direction A mechanical device can be provided which drives linearly in the lateral direction, and any device that moves the guide tube 140 so that the radiation source S is positioned on the central axis of the pipe 10 can be used without limitation.

  FIG. 7 is a view for explaining a pipe nondestructive inspection device according to another embodiment of the present invention, and is a perspective view showing a portion corresponding to the "C" portion in FIG. In the description of the embodiment of FIG. 7, redundant description of the same or corresponding components as those of the previously described embodiment may be omitted. The pipe nondestructive inspection apparatus 100 may further include a roll angle measurement unit (not shown) and a second tube driving unit 180.

  The roll angle measurement unit is installed on the body unit 110 to measure the roll angle of the body unit 110. The roll angle may be an angle at which the body portion 110 is rotated about the central axis of the pipe 10. In one embodiment, the roll angle measurement unit can be provided with means such as an angular velocity sensor, a geomagnetic sensor, or an inertial measurement unit (IMU).

  The second tube driving unit 180 can rotate the guide tube 140 with respect to the body 110 in a second direction (longitudinal direction of the body) perpendicular to the first direction (lateral direction of the body). In one embodiment, the second tube drive unit 180 may be provided on the support plate 151 and may provide a drive motor for rotating the drive housing 152 in the longitudinal direction of the body unit 110. The mechanical structure of the second tube drive unit 180 is not particularly limited as long as it can be moved in the longitudinal direction. The guide tube 140 is rotated in the longitudinal direction of the body by the drive of the drive motor of the second tube driver 180.

  The inspection control device causes the radiation source S to be positioned on the central axis of the pipe 10 on the basis of the position of the body portion 110, the roll angle of the body portion 110, and the design information of the pipe 10 The first pivoting angle to the second pivoting angle and the second pivoting angle to the second direction can be calculated. The inspection control device can control the first tube drive unit 150 according to the first rotation angle, and can control the second tube drive unit 180 according to the second rotation angle.

  8 and 9 are plan views for explaining the operation and effects of the pipe nondestructive inspection apparatus according to the embodiment of FIG. 7, and FIG. 10 is a DD 'line and an EE' line of FIG. It is sectional drawing along. First, referring to FIG. 8, the body portion 110 travels the pipe 10 in a state inclined by 90 ° as compared with the case shown in FIG. 2. In the embodiment of FIG. 8, the inspection control device drives the second tube drive unit 180 instead of the first tube drive unit 150 to rotate the guide tube 140 in the longitudinal direction of the body unit 110, thereby the radiation source S Is located at the center of the radiation film 30 to improve the measurement accuracy of the nondestructive inspection.

  Referring to FIGS. 9 and 10, the body portion 110 travels the pipe 10 at an angle smaller than 90 ° as compared to the case shown in FIG. In FIG. 10, reference numeral 10a denotes a cross section of the pipe along line D-D 'of FIG. 9, and reference numeral 10b denotes a cross section of the pipe along line E-E' of FIG. When the guide tube 140 is not rotated, the center of the body 110 is located on the center point C1 of the pipe 10, but the radiation source S is separated from the center point C2 of the radiation film 40 by a distance L.

  The inspection control device drives the first tube drive unit 150 to rotate the guide tube 140 in the first direction by the first rotation angle so that the radiation source S is positioned at the central point C2 of the radiation film 40. The radiation source S is moved in the lateral direction of the body portion 110 by L1 and the second tube driving portion 180 is driven in the second direction to rotate the guide tube 140 by a second rotation angle to move the radiation source S in the body portion It is moved by L2 in the vertical direction of 110. Thereby, since the radiation source S is located at the center of the radiation film 40, the measurement accuracy of the nondestructive inspection is improved.

  In the illustrated example, the second tube drive unit 180 is configured to rotate the guide tube 140, but as the second tube drive unit 180, the guide tube 140 is moved in a second direction (in the body portion). It is possible to provide a mechanical device that linearly drives in the longitudinal direction, and it can be used without particular limitation as long as it moves the guide tube 140 so that the radiation source S is positioned on the central axis of the pipe 10.

  The second tube driving unit 180 may be omitted if the inside of the pipe 10 can be traveled with the body portion 110 not inclined. For example, when the wheel portion of the body portion 110 is provided with an omnidirectional wheel (omni wheel or mecanum wheel) and the roll angle of the body portion 110 can be adjusted, the horizontal state of the body portion 110 is controlled can do. In such a case, the radiation source S exposed on the distal side of the guide tube 140 can be positioned on the central axis of the pipe 10 even with the first tube drive unit 150 alone.

  In the following, a pipe nondestructive inspection device having an omnidirectional wheel, in particular a Mecanum wheel, will be described in detail.

  11 is a perspective view of a pipe nondestructive inspection apparatus according to another embodiment of the present invention, FIG. 12 is a left side view of a pipe nondestructive inspection apparatus according to another embodiment of the present invention, and FIG. It is a right side view of a pipe nondestructive inspection device concerning an embodiment.

  Referring to FIGS. 11 to 13, the pipe nondestructive inspection apparatus 101 includes a body unit 111, traveling units 310, 320, 330, 340, width adjusting units 210, 220, monitoring units 410, 420, 430, and displacement sensors 510. , 520, and the travel control device 600.

  Although not shown, the pipe nondestructive inspection device 101 includes the guide tube 140, the first tube drive unit 150, the position recognition unit 160, the feeding device 170, the second tube drive unit 180, and the inspection control device described above. be able to. That is, the pipe nondestructive inspection apparatus 101 can determine the presence or absence of a defect in the welded portion 120 formed in the pipe 10 using a radiation source. The pipe nondestructive inspection device 101 can also measure the roll angle of the body portion 111 by including the above-described roll angle measurement unit. On the other hand, since the guide tube 140, the first tube drive unit 50, the position recognition unit 160, the feeding device 170, the inspection control device, and the roll angle measurement unit have been described above, the detailed description will be omitted.

  The body part 111 supports the traveling parts 310, 320, 330, 340, the width adjusting parts 210, 220 and the monitoring parts 410, 420, 430. The body portion 111 can be configured by connecting one or more frames to one another.

  The running portions 310, 320, 330, and 340 are deployed outside the body portion 111, and function to generate a propulsive force by closely connecting the wheels provided at the deployed end with the inner wall of the pipe 10.

  The pipe nondestructive inspection device 101 according to the embodiment of the present invention is a device that travels inside the pipe 10. Therefore, in order to enable the nondestructive inspection apparatus 101 to maintain the posture inside the pipe 10, the running parts 310, 320, 330, and 340 are provided on the opposite sides of the body part 111, respectively. Is preferred. The running portions 310, 320, 330, 340 are developed on both sides of the body portion 111, and the wheels provided at the ends of the running portions 310, 320, 330, 340 can be in close contact with the inner wall of the pipe 10.

  Also, on one side of the body part 111 provided with the traveling parts 310, 320, 330, 340, two or more traveling parts 310, 320, 330, 340 parallel to the traveling direction, ie, the long axis of the pipe 10. Can be provided.

  12 and 13 show that two traveling parts 310, 320, 330 and 340 are provided on the upper and lower sides of the body part 111, respectively. Hereinafter, both sides of the body portion 111 mean the upper side and the lower side of the body portion 111. The left side of FIG. 12 and the right side of FIG. 13 show the front surface of the body portion 111, and the right side of FIG. 12 and the left side of FIG. 13 show the rear surface of the body portion 111.

  The pipe nondestructive inspection apparatus 101 maintains the posture inside the pipe 10 by the four wheels provided at the end of the four traveling parts 310, 320, 330, 340 being in close contact with the inner wall of the pipe 10. Can.

  The plurality of traveling units 310, 320, 330, and 340 have width adjustment gears 311, 321, 331, 341, first legs 313, 323, 333, 343, second legs 312, 322, 332, 342, and wheels 314. 324, 334, 344 and drivers 315, 325, 335, 345 can be included.

  The width adjustment gears 311, 321, 331, 341 may be coupled to the body 111 and may rotate about the coupled portion. The second legs 312, 322, 332, 342 may be connected to the width adjustment gears 311, 321, 331, 341. In addition, the width adjustment gears 311, 321, 331, 341 play a role of rotating the second legs 312, 322, 332, 342 by gearing to the horizontal gears provided in the width adjustment units 210, 220.

  When the second legs 312, 322, 332, 342 of the traveling parts 310, 320, 330, 340 provided on both sides of the body part 111 rotate, the width between the side wheels 314, 324, 334, 344 becomes It can be adjusted. The details of the adjustment of the width between the side wheels 314, 324, 334, 344 will be described later with reference to FIG.

  The first legs 313, 323, 333, 343 play a role of supporting the legs 314, 324, 334, 344. The first legs 313, 323, 333, 343 and the second legs 312, 322, 332, 342 partially overlap each other, but the first legs 313, 323, 333, 343 and the second legs 312, 322 , 332, 342, the distance between the wheels 314, 324, 334, 344 relative to the body 111 can be adjusted. Details of the distance adjustment of the wheels 314, 324, 334, 344 with respect to the body portion 111 will be described later with reference to FIG.

  The leg rings 314, 324, 334, 344 are in close contact with the inner wall of the pipe 10 and play a role in generating a propulsive force. The friction between the rings 314, 324, 334, 344 and the inner wall of the pipe 10 moves the pipe nondestructive inspection device 101.

  The wheels 314, 324, 334, 344 according to embodiments of the present invention include mecanum wheels. Thus, the pipe nondestructive inspection device 101 can be moved forward or backward by controlling the rotational directions of the wheels 314, 324, 334, 344 provided in the traveling portions 310, 320, 330, 340. It can also be rotated along the circumference of the pipe 10.

  The driving units 315, 325, 335, 345 generate driving force to rotate the wheels 314, 324, 334, 344. Based on the control signals of the traveling control device 600, each drive unit 315, 325, 335, 345 can adjust the rotational direction and rotational speed of the wheel 314, 324, 334, 344.

  The width adjusters 210 and 220 function to adjust the width between the wheels 314, 324, 334, and 344 of the traveling units 310, 320, 330, and 340 provided on opposite sides of the body unit 111, respectively. As shown in FIGS. 12 and 13, two traveling parts 310, 320, 330, and 340 are provided on the upper and lower sides of the body part 111, but the width adjusting parts 210 and 220 are the body part 111. The width between the wheels 314, 324, 334, 344 on either side of the front or rear of the

  The width adjusting units 210 and 220 may be provided on the left and right sides of the body unit 111, respectively. As shown in FIG. 12, the width adjustment unit 210 provided on the left side of the body unit 111 adjusts the width between the wheels 314, 324, 334, 344 provided on both sides of the rear surface of the body unit 111. can do. Similarly, as shown in FIG. 13, the width adjustment portion 220 provided on the right side of the body portion 111 includes the wheels 314, 324, 334, 344 provided on both sides of the front surface of the body portion 111. The width between can be adjusted.

  The width adjusters 210 and 220 include cylinders 211 and 221, pistons 212 and 222, and gear portions 213 and 223. The cylinders 211, 221 can generate pressure internally to push and pull the pistons 212, 222. By generating a pressing force by the cylinders 211, 221, the length of the pistons 212, 222 exposed to the outside becomes longer, and by generating a pulling force of the cylinders 211, 221, the pistons 212, 222 exposed to the outside The length can be shortened.

  Gears 213 and 223 are connected to the ends of the pistons 212 and 222, respectively. The gear portions 213 and 223 can horizontally move in a direction in which the front and rear surfaces of the body portion 111 are connected as the pistons 212 and 222 move. Horizontal gears are provided on the upper and lower sides of the gear portions 213 and 223. The horizontal gears may be geared to the width adjusting gears 311, 321, 331, 341 of the traveling units 310, 320, 330, 340. As the horizontal gear moves horizontally, the width adjusting gears 311, 321, 331, 341 rotate on the basis of the body portion 111. As the width adjustment gears 311, 321, 331, 341 rotate, the second legs 312, 322, 332, 342 connected to the width adjustment gears 311, 321, 331, 341 also rotate based on the body 111, Thereby, the distance between the side rings 314, 324, 334, 344 is adjusted with reference to the body portion 111.

  The monitoring units 410, 420, 430 play a role of monitoring the inside of the pipe 10. Specifically, the monitoring unit can monitor the front side and the rear side in the traveling direction. To this end, the body unit 111 may be provided with monitoring units 410 and 420 for monitoring front and rear surfaces, respectively.

  Also, a monitoring unit 430 may be provided to monitor the front side for detailed monitoring of an obstacle existing ahead, a depressed portion of an inner wall of a pipe, or a point of interest.

  An image capturing apparatus such as a camera may play a role of the monitoring units 410, 420, and 430. In addition, the monitoring units 410, 420, and 430 may include a light source that emits light for securing a front view.

  Position displacement sensors 510 and 520 serve to sense the position of the pipe nondestructive inspection device 101 inside the pipe. For example, position displacement sensors 510, 520 can sense the position of the body portion 111 inside the pipe.

  The pipe nondestructive inspection apparatus 101 according to the embodiment of the present invention preferably travels along the center axis of the pipe 10 at its center. When the center of the pipe nondestructive inspection apparatus 101 deviates from the central axis of the pipe 10, there is a possibility that an unnecessary load may be applied to the traveling parts 310, 320, 330, 340 or the width adjusting parts 210, 220.

  On the other hand, the center of the pipe nondestructive inspection apparatus 101 may deviate from the central axis of the pipe 10 due to gravity or various other factors.

  Position displacement sensors 510, 520 can determine the distance to the inner wall of the pipe. For example, the position displacement sensor 510, 520 can irradiate a laser to the inner wall of the pipe and use the reflected light to determine the distance to the inner wall of the pipe. The two position displacement sensors 510, 520 can irradiate the laser in opposite directions, but referring to the distance sensed by each position displacement sensor 510, 520, the center of the pipe nondestructive inspection device 101 is a pipe It can be determined whether or not it coincides with the central axis of ten.

  Determining whether the center of the pipe nondestructive inspection apparatus 101 and the central axis of the pipe 10 coincide with each other may be performed by the travel control apparatus 600 using the sensed distance.

  Further, based on the monitoring results of the monitoring units 410, 420, 430, the traveling control device 600 controls the traveling units 310, 320, 330, 340 so that the body portion 111 rotates along the circumference of the pipe 10. Play a role. As described above, the wheels 314, 324, 334, 344 of the present invention may be Mecanum wheels, and can advance, reverse, and rotate the body portion 111 according to the direction of rotation. The traveling control device 600 controls the traveling units 310, 320, 330, and 340 so that the rotation directions of the wheels 314, 324, 334, and 344 are controlled so that the body unit 111 rotates along the circumference of the pipe 10. It can be decided.

  In addition, the traveling control device 600 can perform general control on the traveling units 310, 320, 330, and 340, the width adjustment units 210 and 220, and the monitoring units 410, 420, and 430.

  FIG. 14 illustrates adjustment of the width between the wheels according to an embodiment of the present invention.

  Referring to FIG. 14, the horizontal movement of the gear portion 213 can adjust the width between the wheels 314 and 324 provided on both sides of the body portion 111.

  The pressure by the cylinder 211 causes the piston 212 and the gear portion 213 connected to the piston 212 to move horizontally. Horizontal gears are provided on the upper and lower sides of the gear portion 213, but the horizontal gears are geared to the width adjustment gears 311 and 32 of the traveling portions 310 and 320. Therefore, when the horizontal gear moves horizontally, the width adjustment gears 311 and 321 rotate on the basis of the connecting portion with the body portion 111.

  The width adjustment gears 311 and 321 are connected to the second legs 312 and 322 of the traveling units 310 and 320, but the second legs 312 and 322 also become body portions 111 when the width adjustment gears 311 and 321 rotate. Rotate on the basis of The second legs 312, 322 are connected to the first legs 313, 323, and are provided with foot rings 314, 324 at the ends of the first legs 313, 323. As a result, by the rotation of the width adjustment gears 311 and 321, the entire traveling units 310 and 320 rotate on the basis of the connection point of the body unit 111.

  As illustrated, the traveling parts 310 and 320 provided on the upper side and the lower side are developed diagonally at the connecting part with the body part 111, and are disposed symmetrically with respect to the body part 111.

  Therefore, the distance between the body portion 111 and the wheels 314 and 324 changes due to the rotation of the traveling portions 310 and 320, and finally the width between the side wheels 314 and 324 is adjusted.

  The width adjusters 210 and 220 are provided on the opposite sides of the body 111 such that the forces 314 and 324 of the runners 310 and 320 press the inner wall of the pipe 10 at a constant level. The width between the legs 314, 324 of 310, 320 can be adjusted. In other words, the width adjusting units 210 and 220 adjust the width between the wheels 314 and 324 of the running units 310 and 320 provided on the opposite sides of the body unit 111 so as to correspond to the inner diameter of the pipe 10. be able to.

  When the force to press the inner wall of the pipe 10 is strong, the width adjustment unit 210 reduces the width between the side wheels 314 and 324, and the wheels 314 and 324 push the inner wall of the pipe 10. If the force is weak, the width adjusters 210 and 220 can increase the width between the side wheels 314 and 324.

  Alternatively, the width adjusters 210 and 220 may adjust the width between the side wheels 314 and 324 with reference to the results monitored by the monitoring units 410, 420 and 430. That is, the inner diameter of the pipe 10 is determined based on the result of monitoring by the monitoring units 410, 420, 430, and the width adjusting units 210, 220 correspond to the inner ring of the pipe 10 corresponding to the determined inner diameter. Adjust the width between 314 and 324 in advance. The determination of the inner diameter of the pipe 10 with reference to the monitoring results of the monitoring units 410, 420, 430 can be performed by the travel control device 600.

  By adjusting the width between the wheels 314 and 324 on both sides by the width adjusting unit 210 and 220, the force with which each wheel 314 and 324 pushes the inner wall of the pipe 10 can be uniformly maintained.

  On the other hand, FIG. 14 shows that the width adjustment between the wheels 314 and 324 on both sides of the rear surface is adjusted by the width adjustment unit 210 provided on the left side of the body unit 111. The width between the front and rear wheels 334 and 344 by the width adjustment unit 220 can be similarly adjusted.

  FIG. 15 is a view showing adjustment of the length of a wheel according to an embodiment of the present invention.

  Referring to FIG. 15, the distance between the body portion 111 and the wheel 314 may change according to the degree of overlap between the first leg 313 and the second leg 312.

  A leg 314 is provided at the end of the first leg 313, and the second leg 312 is rotatably connected to the body 111. In addition, although the first leg 313 and the second leg 312 partially overlap with each other, the distance between the body portion 111 and the wheel 314 changes in accordance with the degree of the overlap. That is, when the overlapping distance between the first leg 313 and the second leg 312 becomes long, the distance between the body part 111 and the wheel 314 becomes short, and when the overlapping distance between the first leg 313 and the second leg 312 becomes short, The distance between the body portion 111 and the leg 314 becomes long.

  The overlapping degree of the first leg 313, 323, 333, 343 and the second leg 312, 322, 332, 342 may be performed actively or passively.

  For example, the user can also adjust the length of the first leg 313, 323, 333, 343 directly to the second leg 312, 322, 332, 342. In order to finely adjust the attitude of the pipe nondestructive inspection device 101 arranged inside the pipe 10, the user measures the length of the first leg 313, 323, 333, 343 for each second leg 312, 322, 332, 342. Can be adjusted.

  A separate drive (not shown) is provided to finely adjust the posture of the pipe nondestructive inspection device 101, and the length of the first leg 313, 323, 333, 343 relative to the second leg 312, 322, 332, 342 is It can also be adjusted.

  On the other hand, depending on the pressure applied to the wheels 314, 324, 334, 344, the first legs 313, 323, 333, to the second legs 312, 322, 332, 342, according to the traveling portions 310, 320, 330, 340, respectively. The length of 343 can be adjusted. For example, when an obstacle present on the inner wall of the pipe 10 applies pressure to a specific wheel, depending on the pressure, the first leg 313, 323, 333, 343 and the second leg 312, 322, 332, 342 overlap. The length can be longer.

  At this time, when the pressure due to the obstacle is removed, the overlapping length of the first leg 313, 323, 333, 343 and the second leg 312, 322, 332, 342 can be returned to the original state. To this end, elastic means (not shown) may be provided to maintain the overlapping length of the first leg 313, 323, 333, 343 and the second leg 312, 322, 332, 342. The elastic means can be understood to play a role in relieving the shock or pressure applied by the obstacle and transmitting it to the body portion 111.

  Although FIG. 15 shows the adjustment of the length of the traveling part 310 provided on the upper side of the rear surface of the body part 111, the remaining traveling parts 320, 330, 340 may perform the same length adjustment operation as this. it can. At this time, the distance between the body portion 111 and the wheels 314, 324, 334, 344 provided on the traveling portions 310, 320, 330, 340 can be adjusted independently. As a result, the impact generated on each leg 314, 324, 334, 344 can be buffered by the first leg 313, 323, 333, 343 and the second leg 312, 322, 332, 342.

  FIG. 16 is a block diagram showing a travel control device according to another embodiment of the present invention.

  Referring to FIG. 16, the traveling control device 600 includes an input unit 610, a storage unit 620, a control unit 630, and an output unit 640.

  The input unit 610 plays a role of receiving an input of a result monitored by the monitoring unit 410, 420, 430. Further, in the pipe nondestructive inspection apparatus 101 according to the embodiment of the present invention, not only the monitoring units 410, 420, 430 but also the direction of gravity is sensed, or the wheel 314, 324, 334, 344 is the inner wall of the pipe 10. A variety of sensors may be provided to sense the pressing force and the like. For this reason, the input unit 610 can also play a role of receiving sensing results of various sensors provided in the pipe nondestructive inspection device 101.

  Moreover, the pipe nondestructive inspection device 101 according to the embodiment of the present invention can be manually operated by the user. Thus, the input unit 610 can receive input of a user's command.

  The input unit 610 may receive input information such as sensing information or a command from the monitoring unit 410, 420, 430, a sensor or a user in a wired or wireless communication scheme.

  The control unit 630 performs general control on the pipe nondestructive inspection apparatus 101 with reference to the input information transmitted from the input unit 610.

  For example, the control unit 630 controls the traveling units 310, 320, 330, and 340 such that the center of the body unit 111 coincides with the central axis of the pipe 10 using the distance information transmitted from the position displacement sensors 510 and 520. can do. Since the wheels 314, 324, 334, 344 provided in the traveling portions 310, 320, 330, 340 are Mecanum wheels, the pipe nondestructive inspection apparatus 101 moves in a direction perpendicular to the central axis of the pipe 10. Then, the center thereof can be aligned with the central axis of the pipe 10.

  Further, the control unit 630 controls the traveling units 310, 320, 330, and 340 so that the body unit 111 rotates along the circumference of the pipe 10 with reference to the monitoring results of the monitoring units 410, 420, and 430. be able to. Based on the monitoring results of the monitoring units 410, 420, and 430, when there is an obstacle ahead of the moving direction or a depressed portion of the inner wall of the pipe, the control unit 630 causes the body portion 111 to be a circle of the pipe 10. The traveling units 310, 320, 330, and 340 are controlled to rotate along the circumference.

  The control unit 630 can determine the rotation angle of the body portion 111 rotating along the circumference of the pipe 10 in consideration of the size and the position of the obstacle or the depressed portion. The control unit 630 may rotate the body unit 111 so that the pipe nondestructive inspection device 101 can travel while avoiding an obstacle or a depressed portion. However, if the size of the obstacle or depression is sufficiently small, the controller 630 can also travel without rotation of the body 111.

  Also, the control unit 630 changes the width between the side wheels 314, 324, 334, 344 with reference to the force with which the side wheels 314, 324, 334, 344 push the inner wall of the pipe 10. The width adjustment units 210 and 220 can be controlled. If the force with which the wheels 314, 324, 334, 344 push the inner wall of the pipe 10 is strong, the control unit 630 controls the width adjustment unit 210 to reduce the width between the wheels 314, 324, 334, 344 on both sides. 220 can be controlled. Similarly, if the force with which the wheels 314, 324, 334, 344 push the inner wall of the pipe 10 is weak, the control unit 630 increases the width between the wheels 314, 324, 334, 344 on both sides. The width adjusters 210 and 220 can be controlled.

  In addition, the control unit 630 may control the rotational speeds of the wheels 314, 324, 334, 344 provided in the traveling units 310, 320, 330, 340, respectively, to correspond to the shape of the pipe 10. it can. If the rotational speeds of all the wheels 314, 324, 334, 344 are the same in a state where the pipe 10 in front of the traveling is bent, slip may occur in some of the wheels. For this reason, the control unit 630 refers to input information input from the monitoring units 410, 420, 430 or other sensors, and corresponds to the shape of the pipe 10 of each of the wheel rings 314, 324, 334, 344. The rotational speed can be controlled.

  In addition, the control unit 630 can control the monitoring units 410, 420, 430 and other sensors (not shown). For example, the control unit 630 may control whether the monitoring units 410, 420, and 430 and the sensor operate.

  The control unit 630 generates and generates control commands for controlling the traveling units 310, 320, 330, 340, the width adjusting units 210, 220, the monitoring units 410, 420, 430 and other sensors (not shown). The control command can be output by the output unit 640. By transmitting the control command output by the output unit 640 to each module, the corresponding module performs a corresponding operation.

  The storage unit 620 temporarily or permanently stores input information input through the input unit 610 and control commands output through the output unit 640. The information input through the input unit 610 can be used not only for control by the control unit 630 but also for observation applications. For example, the information sensed while traveling through the pipe 10 may be transmitted to the user, and the user may determine the internal state of the pipe 10 or the like through the corresponding information. Alternatively, information sensed while traveling through the pipe 10 may be communicated to the user in real time via the output unit 640.

  In addition, the storage unit 620 may store a preset user command. The control unit 630 may control each module so that the corresponding operation is automatically performed with reference to the user command stored in the storage unit 620.

  Hereinafter, with reference to FIG. 17 to FIG. 26, the traveling aspect of the pipe nondestructive inspection device moving inside the pipe will be described. For convenience of explanation, the reference numerals of the detailed components of the nondestructive testing apparatus for pipes are omitted in FIGS. The components corresponding to the omitted drawing symbols are the same as those shown in FIG. 12, FIG. 13 and FIG.

  FIG. 17 is a view showing that the pipe nondestructive inspection apparatus according to another embodiment of the present invention travels inside a pipe.

  Referring to FIG. 17, the pipe nondestructive inspection device 101 can travel inside the pipe 10. While traveling inside the pipe 10, the pipe nondestructive inspection apparatus 101 can collect state information inside the pipe using the provided monitoring units 410, 420, 430, sensors, and the like. Moreover, the pipe nondestructive inspection apparatus 101 can also determine the presence or absence of a defect of the welding part 120 formed in the pipe 10 using a radiation source.

  Although FIG. 17 shows the pipe 10 having a constant diameter, the force with which each wheel pushes the inner wall of the pipe can be maintained uniform. The width adjusters 210 and 220 can adjust the width between the wheels on both sides so that each wheel can push the inner wall of the pipe with uniform force. The pipe nondestructive inspection device 101 can travel in a more stable posture by traveling while pushing the inner wall of the pipe with uniform force.

  FIGS. 18 and 19 are views showing a pipe nondestructive inspection apparatus according to another embodiment of the present invention traveling inside a pipe whose diameter is changed.

  Referring to FIG. 18, the pipe nondestructive inspection apparatus 101 can travel through the pipe 10 of which the diameter gradually increases. Pipe nondestructive inspection device 101 concerning an embodiment of the present invention is provided with two width adjustment parts 210 and 220. One of the two width adjusters 210 and 220 adjusts the width between the wheels on both sides of the front, and the other adjusts the width between the wheels on both sides of the rear.

  Pipe nondestructive inspection of the pipe 10 whose diameter is gradually changed by the two width adjusting parts 210, 220 independently adjusting the width between the wheels on both sides of the front surface and the width between the wheels on both sides of the rear surface Even when the device 101 travels, the force with which each wheel pushes the inner wall of the pipe can be formed uniformly.

  For this reason, the pipe nondestructive inspection device 101 can travel in a stable posture even inside the pipe 10 whose diameter is gradually changed.

  On the other hand, because the diameter of the pipe 10 is too large, the corresponding wheels may not be able to push the inner wall of the pipe with sufficient force even if the width is adjusted by the width adjusters 210 and 220. In such a case, by adjusting the length of the first leg relative to the second leg of the corresponding wheel, it is possible to compensate for the force with which the wheel pushes the inner wall of the pipe.

  Referring to FIG. 19, the pipe nondestructive inspection apparatus 101 can travel inside the pipe 10 having sections 10a, 10b, 10c of different diameters.

  As described above, the pipe 10a whose diameter is changed by the two width adjusting portions 210, 220 independently adjusting the width between the wheels on both sides of the front surface and the width between the wheels on both sides of the rear surface, Even when the pipe nondestructive inspection device 101 travels at 10b and 10c, the force with which each wheel pushes the inner wall of the pipe can be formed uniformly.

  Alternatively, according to another embodiment of the present invention, the controller 630 may control the width adjusters 210 and 220 with reference to the front state on the traveling route.

  The control unit 630 of the pipe nondestructive inspection device 101 traveling in the section 10a recognizes that the diameter of the section 10b ahead is changed with reference to the results monitored by the monitoring units 410 and 430. Can. For this reason, as soon as the pipe nondestructive inspection device 101 enters the section 10b, the control unit 630 can adjust the width adjustment between the wheels on both sides by controlling the width adjustment units 210 and 220. . At this time, the controller 630 can control the width adjusters 210 and 220 such that the width between the wheels on the rear surface increases after the width between the wheels on the front surface increases.

  Similarly, the control unit 630 of the pipe nondestructive inspection device 101 traveling in the 10b section changes the diameter of the 10c section in the forward direction with reference to the results monitored by the monitoring units 410 and 430. You can recognize that. For this reason, as soon as the pipe nondestructive inspection device 101 enters the section 10c, the control unit 630 can adjust the width between the wheels on both sides to decrease by controlling the width adjusting units 210 and 220. . At this time, the controller 630 may control the width adjusters 210 and 220 so that the width between the wheels on the rear surface decreases after the width between the wheels on the front surface decreases.

  FIG. 20 is a view showing that the pipe nondestructive inspection system according to another embodiment of the present invention travels inside a pipe including a curvature section.

  Referring to FIG. 20, the pipe nondestructive inspection apparatus 101 can travel along the curvature section of the pipe 10. On the other hand, as shown in the figure, when the pipe nondestructive inspection device 101 travels, the number of rotations of the wheel in contact with the inner wall of the pipe inside the curvature and the rotation of the wheel in contact with the inner wall of the pipe outside the curvature The numbers are different from one another.

  Therefore, when the rotational speeds of all the wheels are made the same in the curvature section, there is a risk that a slip will occur and the posture of the pipe nondestructive inspection apparatus 101 may become unstable.

  For this reason, the control unit 630 can control the rotational speed of each wheel so that stable traveling can be performed even in the curvature section. For example, the control unit 630 may be configured to reduce the rotational speed of the wheel in contact with the inner wall of the pipe inside the curvature and increase the rotational speed of the wheel in contact with the inner wall of the pipe outside the curvature. The traveling units 310, 320, 330, and 340 can be controlled.

  By adjusting the rotational speed of each wheel to correspond to the movement distance, the pipe nondestructive inspection device 101 can travel in a more stable posture.

  FIG. 21 is a view showing the pipe nondestructive inspection device according to another embodiment of the present invention rotating along the circumference of the pipe.

  Referring to FIG. 21, the pipe nondestructive inspection device 101 can rotate around the circumference inside the pipe 10. Although the wheel according to the embodiment of the present invention may be a Mecanum wheel, the control unit 630 controls the direction of rotation of the wheel provided in each of the traveling units 310, 320, 330, and 340 to prevent the pipe The destructive inspection device 101 can be rotated along the circumference of the pipe 10.

  The control unit 630 can control the rotation direction, the rotation angle, the rotation speed, and the like of the pipe nondestructive inspection device 101.

  22 to 24 are views showing that a nondestructive inspection system for a pipe according to another embodiment of the present invention travels after being rotated inside a pipe.

  Referring to FIG. 22, the pipe nondestructive inspection apparatus 101 can travel in the curvature section of the pipe 10. When control of the rotational speed of each wheel is possible, traveling as shown in FIG. 20 is possible. However, if the vehicle travels as shown in FIG. 20 in a state where control of the rotational speed of each wheel is not possible, the posture of the pipe nondestructive inspection apparatus 101 may become unstable.

  Therefore, the pipe nondestructive inspection apparatus 101 according to the embodiment of the present invention can travel along the curvature section after being rotated along the outer periphery of the pipe 10.

  When traveling as shown in FIG. 22, the distance that both side wheels must travel in the curvature section is the same. For this reason, even if each leg rotates at the same rotational speed, stable traveling without slip is possible.

  Referring to FIG. 23, the pipe nondestructive inspection device 101 can continue traveling after rotating along the outer periphery of the inner wall of the pipe, if there is a depressed portion of the inner wall of the pipe ahead.

  When traveling while maintaining the initial posture as shown in FIG. 23, there is a risk that the one side wheel may fall into the depressed portion. In order to prevent this, based on the monitoring results by the monitoring units 410 and 430, the control unit 630 controls the traveling units 310, 320, 330, and 340 when it is determined that there is a depressed portion ahead. Pipe nondestructive inspection device 101 can be made to rotate along the perimeter of the inner wall of a pipe.

  Referring to FIG. 24, the pipe nondestructive inspection apparatus 101 can continue traveling after rotating along the outer periphery of the inner wall of the pipe when there is an obstacle OB ahead.

  When traveling while maintaining the initial posture as shown in FIG. 24, there is a risk that the one side wheel may get caught by the obstacle OB. In order to prevent this, based on the monitoring results by the monitoring units 410 and 430, the control unit 630 controls the traveling units 310, 320, 330, and 340 when it is determined that the obstacle OB is present in front. Pipe nondestructive inspection device 101 can be made to rotate along the perimeter of the inner wall of a pipe.

  FIG. 25 is a view showing that the pipe nondestructive inspection apparatus according to another embodiment of the present invention determines the center position inside the pipe, and FIG. 26 is a pipe nondestructive inspection according to one embodiment of the present invention FIG. 6 shows the device correcting the center position inside the pipe.

  Referring to FIG. 25, position displacement sensors 510, 520 can determine the position of the pipe nondestructive inspection device in the pipe.

  Although two position displacement sensors 510, 520 may be provided in the pipe nondestructive inspection device 101, each position displacement sensor 510, 520 emits a laser to the inner wall of the pipe, and the distance from the pipe using the reflected light Can be judged.

  The distance information sensed by the position displacement sensor 510, 520 is transmitted to the traveling control device, and the traveling control device refers to the transmitted information to determine the position of the nondestructive inspection device 101 relative to the central axis PC of the pipe. Can.

  The traveling control device can control the traveling units 310, 320, 330, and 340 such that the center RC of the nondestructive testing device 101 coincides with the central axis PC of the pipe. Since the wheels of the running parts 310, 320, 330, 340 are Mecanum wheels, the pipe nondestructive inspection apparatus can move in a direction perpendicular to the central axis PC of the pipe. For this reason, center RC of pipe nondestructive inspection device 101 and center axis PC of a pipe can be in agreement.

  Although the embodiments of the present invention have been described above with reference to the accompanying drawings, those having ordinary knowledge in the technical field to which the present invention belongs can find that the present invention does not change its technical idea or essential features. It can be understood that it can be implemented in a specific form of Therefore, it should be understood that the embodiments described above are illustrative in all aspects and not restrictive.

DESCRIPTION OF SYMBOLS 10 pipe 12 welding part 20 radiation film 30 radiation film 32 width adjustment gear 40 radiation film 50 1st tube drive part 100 pipe nondestructive inspection device 110 body part 120 wheel part 130 drive part 140 guide tube 150 1st tube drive part 160 position Recognition unit 170 Feeding device 180 Second tube drive unit 210 Width adjustment unit 220 Width adjustment unit 310 Run unit 320 Run unit 330 Run unit 335 Drive unit 340 Run unit 410 Monitor unit 420 Monitor unit 430 Monitor unit 510 Position displacement sensor 520 Position Displacement sensor

Claims (17)

Body part,
A traveling portion which is developed on the outside of the body portion and is brought into close contact with an inner wall of a pipe by means of a leg provided at the expanded end, to generate a propulsive force;
A monitoring unit that monitors the inside of the pipe;
A traveling control device that controls the traveling unit such that the body rotates along the circumference of the pipe according to the monitoring result;
A guide tube which is elongated in one direction parallel to the traveling direction of the body portion and is configured to have a first end side pivotally connected to the body portion, wherein the pipe is non-destructive A guide tube for guiding a feeding tube having a radiation source for examination at the second end;
And a first tube driving unit configured to rotate the guide tube in a first direction with respect to the body portion to form a specific angle between the long axis of the guide tube and the traveling direction of the body portion. , Pipe nondestructive inspection device. A traveling part is provided on each side opposite to the body part,
The pipe nondestructive inspection apparatus according to claim 1, wherein one side of the body part is provided with two or more traveling parts parallel to the traveling direction.   The pipe nondestructive inspection device according to claim 2, wherein the traveling control device controls the rotational speed of a wheel provided to each of the plurality of traveling portions so as to correspond to the shape of the pipe.   Each of the plurality of traveling portions includes a first leg supporting the provided wheels and a second leg partially overlapping the first leg, and an overlapping distance between the first leg and the second leg is The pipe nondestructive inspection device according to claim 1, wherein the distance between the wheel and the body portion is adjusted by being adjusted.   The pipe nondestructive inspection device according to claim 4, wherein a distance between the body portion and a wheel provided to each of the plurality of traveling portions is independently adjusted.   The traveling control device rotates the body along the circumference of the pipe when there is an obstacle ahead of the moving direction or when there is a depressed portion of the inner wall of the pipe based on the monitoring result. The pipe nondestructive inspection device according to claim 1, wherein the traveling unit is controlled as follows. Each side opposite to the body is provided with a running part,
The pipe nondestructive inspection device according to claim 1, further comprising a width adjustment unit for adjusting a width between wheels of a running unit provided on both sides opposite to the body unit.   The width adjusting unit is a width between the wheels of the running part provided on both sides opposite to the body so that the force of the wheels of the running part pressing the inner wall of the pipe is maintained constant. The pipe nondestructive inspection device according to claim 7, wherein The apparatus further includes a position displacement sensor that determines the position of the pipe nondestructive inspection device inside the pipe,
The travel control device controls the travel portion so that the center of the body portion coincides with the central axis of the pipe, with reference to the determined position of the pipe nondestructive inspection device inside the pipe. The pipe nondestructive inspection device according to claim 1. The rotation angle of the guide tube for causing the radiation source exposed on the second end side of the guide tube to be positioned on the central axis of the pipe is calculated, and The pipe nondestructive inspection device according to claim 1, further comprising an inspection control device that controls the one-tube drive unit. A position recognition unit for recognizing a position of the body portion in the pipe;
The pipe nondestructive inspection device according to claim 10, wherein the inspection control device calculates a turning angle of the guide tube based on a position of the body portion and design information of the pipe.   When at least a part of the pipe nondestructive inspection device is located in the curved pipe of the pipe, the inspection control device may be configured to guide the guide tube based on the position of the body portion, the inner diameter of the pipe, and the curvature of the curved pipe. The pipe nondestructive inspection device according to claim 10, wherein the rotation angle of the pipe is calculated. It further includes a radiation film installed along the outer peripheral edge on the weld side of the pipe,
The pipe nondestructive inspection device according to claim 10, wherein the inspection control device controls the first tube drive unit such that the radiation source is located at a central portion of the radiation film. The pipe non-destructive according to claim 1, further comprising: a feeding device for inserting the feeding tube into the guide tube to transfer the radiation source of the feeding tube to the second end of the guide tube. Inspection device. The feeding device
A feeding gear member coupled to a gear portion of an outer peripheral surface of the feeding tube;
The pipe nondestructive inspection device according to claim 14, further comprising: a drive member for driving the feeding gear member. Rotating the guide tube in a second direction perpendicular to the first direction with respect to the body portion to form a specific angle between the longitudinal axis of the guide tube and the traveling direction of the body portion The pipe nondestructive inspection device according to claim 1, further comprising a two tube drive unit. A roll angle measurement unit that measures a roll angle of the body unit;
Based on the position of the body portion, the roll angle of the body portion, and the design information of the pipe, the radiation source is positioned on the central axis of the pipe first in the first direction of the guide tube A rotation angle and a second rotation angle in the second direction are calculated, and the first tube drive unit is controlled according to the first rotation angle, and the second rotation angle is calculated according to the second rotation angle. The pipe nondestructive inspection device according to claim 16, further comprising an inspection control device controlling a tube drive.

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