JP7241253B1 - Ultrasonic flaw detector and ultrasonic flaw detection method - Google Patents

Abstract

An ultrasonic flaw detection device capable of moving a probe by a driving force of a driving source along the outer peripheral surface of a circular pipe even when the space between the circular pipes arranged at intervals in the radial direction is relatively narrow. Provide equipment. An ultrasonic flaw detector includes a flexible shaft for transmitting rotational force of an output shaft of a driving device to an input shaft of a moving device. The driving device has a mounting portion for mounting the driving device on a circular pipe different from the circular pipe to be inspected, and an output shaft moving mechanism that allows movement of the output shaft with respect to the mounting portion. The flexible shaft includes an input shaft positioned on one side of the circular pipe to be inspected in the extending direction of the circular pipe to be inspected in the moving device attached to the circular pipe to be inspected, and a drive attached to a circular pipe different from the circular pipe to be inspected. It is connected to an output shaft located on one side of the device, and is capable of transmitting the rotational force of the output shaft to the input shaft. The output shaft moving mechanism allows the output shaft to move following the flexible shaft that moves along with the movement of the moving device in the circumferential direction. [Selection drawing] Fig. 1B

Description

The present disclosure relates to an ultrasonic flaw detection device and an ultrasonic flaw detection method.

2. Description of the Related Art Ultrasonic flaw detectors are known that inspect the inside of a subject by performing ultrasonic flaw detection on the subject. For example, as an ultrasonic flaw detector that can perform ultrasonic flaw detection of a pipe as a test object, there is an ultrasonic flaw detector that is configured so that the flaw detection range can be changed by moving the probe along the outer peripheral surface of the pipe. known (see, for example, Patent Document 1).

JP 2016-008845 A

For example, there is known a device such as a heat exchanger in a boiler, in which a plurality of pipes, which are objects to be inspected, are arranged at intervals in the radial direction. In such an apparatus, when the distance between adjacent pipes is relatively narrow, even if the probe is to be moved along the outer peripheral surface of the pipe, a driving source such as a motor for moving the probe cannot be used. It may not be possible to pass between pipes of adjacent sizes. In such a case, for example, the drive source is detached and the probe is manually moved.

In view of the circumstances described above, at least one embodiment of the present disclosure provides ultrasonic flaw detection for a plurality of circular pipes that are spaced apart in the radial direction, even when the space between adjacent circular pipes is relatively narrow. An object of the present invention is to provide an ultrasonic flaw detection apparatus and an ultrasonic flaw detection method capable of moving a probe along the outer peripheral surface of a circular pipe by the driving force of a driving source.

(1) An ultrasonic flaw detector according to at least one embodiment of the present disclosure,
An ultrasonic flaw detector for ultrasonically detecting a plurality of circular pipes arranged at intervals in the radial direction,
at least one ultrasonic probe;
an input shaft for a rotational force; and a drive wheel that is rotationally driven by the rotational force input to the input shaft, and rotates the at least one ultrasonic probe of the plurality of circular tubes by rotation of the drive wheel. a moving device configured to move in the circumferential direction along the outer peripheral surface of the circular pipe to be inspected in the
a drive device having a rotational force output shaft and a drive source for rotationally driving the output shaft;
a flexible shaft for transmitting the rotational force of the output shaft to the input shaft;
with
The driving device includes a mounting portion for mounting the driving device to the circular pipe different from the circular pipe to be inspected, an output shaft moving mechanism capable of moving the output shaft with respect to the mounting portion, has
The flexible shaft has the input shaft positioned on one side in the extending direction of the circular pipe to be inspected in the moving device attached to the circular pipe to be inspected, and the flexible shaft different from the circular pipe to be inspected. and the output shaft located on the one side of the driving device attached to a circular pipe, and capable of transmitting the rotational force of the output shaft to the input shaft,
The output shaft moving mechanism permits movement of the output shaft following the flexible shaft that moves as the moving device moves in the circumferential direction.

(2) An ultrasonic flaw detector according to at least one embodiment of the present disclosure,
An ultrasonic flaw detector for ultrasonically detecting a plurality of circular pipes arranged at intervals in the radial direction,
at least one ultrasonic probe;
an input shaft for a rotational force; and a drive wheel that is rotationally driven by the rotational force input to the input shaft, and rotates the at least one ultrasonic probe of the plurality of circular tubes by rotation of the drive wheel. a moving device configured to move in the circumferential direction along the outer peripheral surface of the circular pipe to be inspected in the
a drive device having a rotational force output shaft and a drive source for rotationally driving the output shaft;
a flexible shaft for transmitting the rotational force of the output shaft to the input shaft;
with
The driving device has a mounting portion for mounting the driving device to the circular pipe to be inspected, and an output shaft moving mechanism that enables the output shaft to move with respect to the mounting portion,
The flexible shaft includes the input shaft positioned on one side of the circular pipe to be inspected in the extending direction of the circular pipe to be inspected in the moving device attached to the circular pipe to be inspected, and the flexible shaft on the one side of the moving device. is connected to the output shaft located on the other side in the extending direction in the driving device attached to the circular pipe to be inspected, and is capable of transmitting the rotational force of the output shaft to the input shaft;
The output shaft moving mechanism permits movement of the output shaft following the flexible shaft that moves as the moving device moves in the circumferential direction.

(3) An ultrasonic flaw detection method according to at least one embodiment of the present disclosure,
An ultrasonic flaw detection method for ultrasonically flaw-detecting a plurality of circular tubes arranged at intervals in the radial direction using an ultrasonic flaw detector,
The ultrasonic flaw detector,
at least one ultrasonic probe;
an input shaft for a rotational force; and a drive wheel that is rotationally driven by the rotational force input to the input shaft, and rotates the at least one ultrasonic probe of the plurality of circular tubes by rotation of the drive wheel. a moving device configured to move in the circumferential direction along the outer peripheral surface of the circular pipe to be inspected in the
a drive device having a rotational force output shaft and a drive source for rotationally driving the output shaft;
a flexible shaft for transmitting the rotational force of the output shaft to the input shaft;
with
The driving device includes a mounting portion for mounting the driving device to the circular pipe different from the circular pipe to be inspected, an output shaft moving mechanism capable of moving the output shaft with respect to the mounting portion, has
attaching the moving device to the circular pipe to be inspected so that the input shaft is positioned on one side in the extending direction of the circular pipe to be inspected in the moving device;
a step of attaching the driving device to the circular pipe different from the circular pipe to be inspected so that the output shaft is positioned on the one side of the driving device;
The output shaft of the driving device is rotationally driven to rotationally drive the input shaft of the moving device via the flexible shaft, thereby moving the moving device in the circumferential direction, and the at least one ultrasonic probe is performed. a step of ultrasonically inspecting the circular pipe to be inspected by an element;
with
In the step of ultrasonically inspecting the circular pipe to be inspected, the output shaft is moved by the output shaft moving mechanism so as to follow the flexible shaft that moves as the moving device moves in the circumferential direction.

(4) An ultrasonic flaw detection method according to at least one embodiment of the present disclosure,
An ultrasonic flaw detection method for ultrasonically flaw-detecting a plurality of circular tubes arranged at intervals in the radial direction using an ultrasonic flaw detector,
The ultrasonic flaw detector,
at least one ultrasonic probe;
an input shaft for a rotational force; and a drive wheel that is rotationally driven by the rotational force input to the input shaft, and rotates the at least one ultrasonic probe of the plurality of circular tubes by rotation of the drive wheel. a moving device configured to move in the circumferential direction along the outer peripheral surface of the circular pipe to be inspected in the
a drive device having a rotational force output shaft and a drive source for rotationally driving the output shaft;
a flexible shaft for transmitting the rotational force of the output shaft to the input shaft;
with
The drive device has a mounting portion for mounting the drive device to the circular pipe to be inspected, and an output shaft moving mechanism that enables the output shaft to move with respect to the mounting portion,
attaching the moving device to the circular pipe to be inspected so that the input shaft is positioned on one side in the extending direction of the circular pipe to be inspected in the moving device;
The driving device is arranged so that the output shaft is located on the other side of the extending direction of the driving device and the driving device is located on the one side of the moving device. attaching to
Rotationally driving the output shaft of the driving device rotates the input shaft of the moving device through the flexible shaft to move the moving device in the circumferential direction, thereby performing the at least one ultrasonic probe. a step of ultrasonically inspecting the circular pipe to be inspected by an element;
with
In the step of ultrasonically inspecting the circular pipe to be inspected, the output shaft is moved by the output shaft moving mechanism so as to follow the flexible shaft that moves with the movement of the moving device in the circumferential direction.

According to at least one embodiment of the present disclosure, when ultrasonic flaw detection is performed on a plurality of circular pipes arranged at intervals in the radial direction, even if the distance between adjacent circular pipes is relatively narrow, the circular pipes The probe can be moved by the driving force of the driving source along the outer peripheral surface of the .

BRIEF DESCRIPTION OF THE DRAWINGS FIG. 1 is a diagram showing the overall configuration of an ultrasonic flaw detection apparatus according to an embodiment, and is a diagram showing a case in which a moving device and a driving device are arranged in the same circular pipe; BRIEF DESCRIPTION OF THE DRAWINGS FIG. 1 is a diagram showing the overall configuration of an ultrasonic flaw detection apparatus according to an embodiment, showing a case where a moving device and a driving device are arranged in different circular tubes; 1 is a schematic plan view of a mobile device according to one embodiment; FIG. FIG. 3 is a view taken along line III-III in FIG. 2; FIG. 4 is a schematic diagram of the movement device according to one embodiment attached to a circular pipe, viewed from the extending direction of the circular pipe. FIG. 5 is a view taken along line VV in FIG. 4; FIG. 4 is a schematic diagram of the movement device according to one embodiment attached to a circular pipe, viewed from the extending direction of the circular pipe. FIG. 7 is a view taken along line VII-VII in FIG. 6; 1 is a schematic perspective view of a driving device according to one embodiment; FIG. 1 is a schematic front view of a drive device according to one embodiment; FIG. FIG. 4 is a schematic front view for explaining a state in which the driving device according to one embodiment is attached to a circular pipe; 4 is a flow chart showing a procedure of ultrasonic flaw detection by an ultrasonic flaw detector.

Several embodiments of the present disclosure will now be described with reference to the accompanying drawings. However, the dimensions, materials, shapes, relative arrangements, etc. of the components described as the embodiment or shown in the drawings are not meant to limit the scope of the present disclosure, but are merely illustrative examples. do not have.
For example, expressions denoting relative or absolute arrangements such as "in a direction", "along a direction", "parallel", "perpendicular", "center", "concentric" or "coaxial" are strictly not only represents such an arrangement, but also represents a state of relative displacement with a tolerance or an angle or distance to the extent that the same function can be obtained.
For example, expressions such as "identical", "equal", and "homogeneous", which express that things are in the same state, not only express the state of being strictly equal, but also have tolerances or differences to the extent that the same function can be obtained. It shall also represent the existing state.
For example, expressions that express shapes such as squares and cylinders do not only represent shapes such as squares and cylinders in a geometrically strict sense, but also include irregularities and chamfers to the extent that the same effect can be obtained. The shape including the part etc. shall also be represented.
On the other hand, the expressions "comprising", "comprising", "having", "including", or "having" one component are not exclusive expressions excluding the presence of other components.

FIG. 1A is a diagram showing the overall configuration of an ultrasonic flaw detection apparatus according to an embodiment, and is a diagram showing a case where a moving device and a driving device, which will be described later, are arranged in the same circular pipe.
FIG. 1B is a diagram showing the overall configuration of an ultrasonic flaw detection apparatus according to an embodiment, and is a diagram showing a case where a moving device and a driving device, which will be described later, are arranged in different circular tubes.
FIG. 2 is a schematic plan view of a mobile device according to one embodiment.
3 is a view taken along line III-III in FIG. 2. FIG.
FIG. 4 is a schematic diagram of a moving device according to an embodiment attached to a circular pipe, viewed from the extending direction of the circular pipe.
5 is a view taken along line VV in FIG. 4. FIG.
FIG. 6 is a schematic diagram of the moving device according to one embodiment attached to a circular pipe, viewed from the extending direction of the circular pipe.
7 is a view taken along line VII-VII in FIG. 6. FIG.
FIG. 8 is a schematic perspective view of a driving device according to one embodiment.
FIG. 9 is a schematic front view of a drive device according to one embodiment.
FIG. 10 is a schematic front view for explaining a state in which the driving device according to one embodiment is attached to a circular pipe.

An ultrasonic flaw detector 1 according to one embodiment is an ultrasonic flaw detector for ultrasonically detecting circular pipes or cylinders. The ultrasonic flaw detector 1 according to one embodiment is suitable for ultrasonic flaw detection of a plurality of circular tubes 80 arranged at intervals in the radial direction, which are used, for example, in a heat exchanger of a boiler. It is a device.
An ultrasonic flaw detection apparatus 1 according to one embodiment is an apparatus capable of performing ultrasonic flaw detection by, for example, a phased array method or a TOFD method.
The ultrasonic flaw detection apparatus 1 according to one embodiment includes at least one ultrasonic probe 2 and at least one ultrasonic probe connected to a circular pipe 81 to be inspected among a plurality of circular pipes 80 (hereinafter referred to as inspection a moving device 3 configured to move in the circumferential direction along the outer peripheral surface 80a of the circular pipe 81 to be inspected; and a flexible shaft 7 for transmitting the driving force from the driving device 5 to the moving device 3 .
That is, in the ultrasonic flaw detector 1 according to one embodiment, the moving device 3 that holds the ultrasonic probe 2 and can move in the circumferential direction along the outer peripheral surface 80a of the circular pipe 81 to be inspected, and the driving source is separately provided, and only the moving device 3 is driven by the driving force from the driving device 5 transmitted by the flexible shaft 7 as shown by the arrow a in FIGS. 1A and 1B. It is configured to move along the circumferential direction of 81 . Specifically, the moving device 3 and the driving device 5 are configured as follows.
In the following description, the extending direction (axial direction) of the circular pipe 80 or the circular pipe 81 to be inspected is simply referred to as the axial direction, and the circumferential direction of the circular pipe 80 or the circular pipe 81 to be inspected is also simply referred to as the circumferential direction. The radial direction of the circular pipe 80 or the circular pipe 81 to be inspected is also simply referred to as the radial direction.

(Moving device 3)
As well shown in FIGS. 2 to 7, the moving device 3 according to one embodiment holds one of the pair of ultrasonic probes 2 and attaches it to the circular pipe 81 to be inspected. It includes a first unit 31 to be attached and a second unit 32 to hold the other ultrasonic probe 2 and be attached to the circular tube 81 to be inspected.
The first unit 31 and the second unit 32 respectively include a holding portion 33 for the ultrasonic probe 2 and a winding arm configured to wrap around the circular tube 81 to be inspected when attached to the circular tube 81 to be inspected. a portion 34;
For convenience of explanation, the cables connected to the ultrasonic probe 2 and the encoder 41, which will be described later, are not shown in each figure from FIG. 1 to FIG.

(Wrapped arm 34)
The winding arm portion 34 has a plurality of link members 35 arranged along the circumferential direction when attached to the circular pipe 81 to be inspected. In the winding arm portion 34, the link members 35 adjacent to each other along the extending direction of the link member 35 (horizontal direction in FIGS. 2 and 3) extend in a direction orthogonal to the extending direction (vertical direction in FIG. 2). , normal direction of the paper surface in FIG. 3). 2 and 3 show a state in which each link member 35 of the winding arm 34 is unfolded in the left-right direction in FIGS. there is

Among the plurality of link members 35, the link member 35 and the holding portion 33 arranged on the leftmost side in FIGS. ing.
As shown in FIGS. 4 to 7, in the winding arm portion 34, the link members 35 adjacent to each other along the extending direction of the link members 35 are rotated about the central axis Ax1 by the biasing force of a spring (not shown). It is configured to move and wrap around the circular tube 81 to be inspected by the biasing force when attached to the circular tube 81 to be inspected.
2 and 3, the link member 35 and the holding portion 33, which are arranged on the leftmost side in FIG. 2 and FIG. The ultrasonic probe 2 held by the holding portion 33 is pressed toward the outer peripheral surface 80 a of the circular pipe 81 to be inspected by the biasing force when attached to the pipe 81 .
The central axes Ax1 and Ax2 are parallel to the axial direction of the circular pipe 81 to be inspected when the winding arm portion 34 is attached to the circular pipe 81 to be inspected.

The winding arm 34 has a plurality of wheels 36 rotatable around a rotation axis parallel to the central axis Ax1. Each of the first unit 31 and the second unit 32 can move in the circumferential direction on the outer peripheral surface 80a of the circular pipe 81 to be inspected by rotating the plurality of wheels 36 in contact with the outer peripheral surface 80a of the circular pipe 81 to be inspected. It has become.

(Connecting portion 38)
In the moving device 3 according to one embodiment, the first unit 31 and the second unit 32 that are spaced apart in the extending direction of the central axis Ax1 are connected by the connecting portion 38 . As a result, when the pair of ultrasonic probes 2 attached to the first unit 31 and the second unit 32 move in the circumferential direction along with the moving device 3 on the outer peripheral surface 80a of the circular pipe 81 to be inspected, They are connected to each other such that their relative positions with respect to direction and axial direction do not change.
Further, the moving device 3 according to one embodiment is configured to be movable along the circumferential direction along the outer periphery of the circular tube 81 to be inspected so that the circumferential positions of the pair of ultrasonic probes 2 are the same. ing.

(Input shaft 39 and drive wheel 37)
In the moving device 3 according to one embodiment, the first unit 31 has an input shaft 39 to which rotational force is input. Some of the plurality of wheels 36 provided in the first unit 31 are drive wheels 37 , and the drive wheels 37 are attached to an input shaft 39 .
That is, the moving device 3 according to one embodiment is configured such that the rotational force input to the input shaft 39 is transmitted to the driving wheels 37 without being accelerated or decelerated. As a result, the moving device 3 does not need to be provided with a speed reducer (transmission), so that the moving device 3 can be downsized. Therefore, even if the interval between the circular pipe 81 to be inspected and the circular pipe 80 adjacent to the circular pipe 81 to be inspected is relatively small, the possibility of interference between the moving device 3 and the circular pipe 80 can be reduced.

The input shaft 39 is connected to the other end 72 of the flexible shaft 7 , which will be described later, and the first unit 31 is configured so that a rotational force from the driving device 5 , which will be described later, is input through the flexible shaft 7 .

In addition, when performing ultrasonic flaw detection by one ultrasonic probe 2 instead of ultrasonic flaw detection by a pair of ultrasonic probes 2, the first unit 31 and the second unit 32 are connected by the connection part 38. The ultrasonic flaw detection may be performed only with the first unit 31 by releasing the connection. In this case, the encoder 41 to be described below may be provided in the first unit 31 .

(Encoder 41)
The moving device 3 according to one embodiment has an encoder 41 for measuring the moving distance of the ultrasonic probe 2 in the circular pipe 81 to be inspected in the circumferential direction.
In the moving device 3 according to one embodiment, the encoder 41 is provided in the second unit 32 as shown in FIG. 2, for example, but may be provided in the first unit 31 as described above.

When the moving device 3 configured in this manner is attached to the circular pipe 81 to be inspected, the link members 35 adjacent to each other along the extending direction of the link members 35 move along the circular pipe to be inspected by the biasing force of a spring (not shown). It can wrap around 81. Then, when the moving device 3 is attached to the circular pipe 81 to be inspected, the ultrasonic probe 2 held by the holding portion 33 is pressed toward the outer peripheral surface 80a of the circular pipe 81 to be inspected.
Then, when a rotational force from the driving device 5, which will be described later, is input to the input shaft 39 via the flexible shaft 7, the driving wheel 37 is rotationally driven, and the moving device 3 moves in the circumferential direction of the circular pipe 81 to be inspected. do.
The examples shown in FIGS. 5 and 7 show a state in which a pair of ultrasonic probes 2 are spaced apart in the axial direction across the butt welded portion 80b of the circular pipe 81 to be inspected.

The moving device 3 according to one embodiment can move the ultrasonic probe 2 in the circumferential direction of the circular pipe 81 to be inspected by arranging the ultrasonic probe 2 with respect to the circular pipe 81 to be inspected. , the ultrasonic probe 2 is configured not to move in the axial direction.
In addition, the moving device 3 according to one embodiment releases the connection between the input shaft 39 and the other end 72 of the flexible shaft 7, and moves the ultrasonic wave while manually moving the moving device 3 in the circumferential direction of the circular pipe 81 to be inspected. It is also possible to perform flaw detection.

(Driving device 5)
As well shown in FIGS. 8 to 10, the driving device 5 according to one embodiment includes an electric motor which is a driving source for moving the moving device 3 in the circumferential direction along the outer peripheral surface 80a of the circular tube 81 to be inspected. 51, a speed reducer 52, a torque output shaft 53, an attachment portion 54 for attaching the drive device 5 to a member or the like to which the drive device 5 can be attached, and a movement of the output shaft 53 with respect to the attachment portion 54. and an output shaft moving mechanism 55 that enables

(Electric motor 51 and speed reducer 52)
In the drive device 5 according to one embodiment, the electric motor 51 is a so-called motor with a speed reducer integrally configured with a speed reducer 52 for reducing the rotation speed of the output shaft (not shown) of the electric motor 51 . The speed reducer 52 is provided with an output shaft 53 for outputting rotational force to the outside so as to protrude outside the housing of the speed reducer 52 .
One end 71 of a flexible shaft 7 , which will be described later, is connected to the output shaft 53 , and the rotational force (rotational torque) of the output shaft 53 can be input to the input shaft 39 of the moving device 3 via the flexible shaft 7 .
In the drive device 5 according to one embodiment, the electric motor 51 and the speed reducer 52 are attached to the attachment portion 54 via the output shaft moving mechanism 55 .

(Mounting portion 54)
In the drive device 5 according to one embodiment, the attachment portion 54 includes a main body portion 541 to which the output shaft moving mechanism 55 is attached, an arm portion 542 movably attached to the main body portion 541, and a and a link portion 543 for movably attaching an arm portion 542 .
The body portion 541 is, for example, a plate-like member having a rectangular shape in plan view.
For convenience of explanation, the x-direction, y-direction, and z-direction of the driving device 5 are defined as follows.
The plate thickness direction of the body portion 541 is the z direction, the longitudinal direction of the body portion 541 when viewed from the z direction, that is, in plan view is the x direction, and the lateral direction is the y direction.

The link portions 543 are attached to both ends of the main body portion 541 in the y direction, and one end of the link portion 543 can swing relative to the main body portion 541 about a central axis c1 parallel to the x-axis. .
An arm portion 542 is attached to the other end of each link portion 543 so as to be swingable around a central axis c2 parallel to the x-axis.

A magnet 544 , for example, is attached to the arm portion 542 , for example, on the lower side in FIGS. 8 to 10 .

(Output shaft moving mechanism 55)
In the drive device 5 according to one embodiment, the output shaft moving mechanism 55 has a direct acting device 551 and a rotating device 556 .
The linear motion device 551 has a base portion 552 and a moving portion 553 which are configured to be mutually movable along a certain direction.
In the driving device 5 according to one embodiment, the base portion 552 is fixed to the surface facing upward in FIGS.
The moving portion 553 is movable in the y direction with respect to the base portion 552 , that is, the body portion 541 .
In addition, the movable distance in the y direction of the moving part 553 with respect to the base part 552, that is, the main body part 541 may be equal to or larger than the diameter of the circular pipe 81 to be inspected, for example.
Further, the linear motion device 551 may be configured so that the moving portion 553 can also move in the x direction with respect to the base portion 552 , that is, the main body portion 541 .

The rotating device 556 has a base portion 557 and a rotating portion 558 which are rotatable about the central axis c3.
In the drive device 5 according to one embodiment, the base portion 557 is fixed to a surface of the moving portion 553 of the linear motion device 551 facing upward in FIGS.
The rotating portion 558 is rotatable with respect to the base portion 557, that is, the main body portion 541, about a central axis c3 parallel to the z-direction.
The speed reducer 52 is fixed to a surface of the rotating portion 558 facing upward in FIGS. 8 to 10, which is one side in the z direction.
The angular range in which the rotating portion 558 can rotate about the central axis c3 with respect to the base portion 557, that is, the main body portion 541 is preferably 90 degrees or more, for example.

In the drive device 5 configured as described above, the output shaft 53 is movable in the y direction with respect to the main body portion 541, and is also capable of rotating and swinging about the central axis c3 parallel to the z direction. is.
The driving device 5 may be configured to be swingable within a virtual plane including the central axis (not shown) of the output shaft 53 and the central axis c3.

As shown in FIGS. 1A, 1B, and 10, for example, the driving device 5 is configured such that the mounting portion 54 is arranged such that the x-direction of the main body portion 541 coincides with the axial direction of the circular pipe 81, and the circular pipe 81 has a curved surface. 80 can be fixed by magnets 544 attached to arms 542 against the outer peripheral surface 80a. That is, as shown in FIG. 10, the magnet 544 is attracted to the outer peripheral surface 80a of the circular pipe 80 by moving the arm portion 542 with respect to the main body portion 541 in accordance with the shape of the outer peripheral surface 80a of the circular pipe 80. be able to.

In the above description, the drive device 5 is configured to be attached to a member or the like to which the drive device 5 can be attached by the magnetic force of the magnet 544 provided in the attachment portion 54 . However, the configuration of the mounting portion 54 is not limited to the configuration described above. For example, by sandwiching the circular pipe 81 to be inspected between the main body portion 541 and a member arranged on the opposite side of the circular pipe 81 to be inspected from the main body portion 541 , the driving device 5 can be placed between the circular pipe 81 to be inspected. The attachment portion 54 may be configured so that it can be attached to 81 .

(Flexible shaft 7)
The flexible shaft 7 is a flexible shaft-like member that allows relative movement between one end 71 and the other end 72 of the flexible shaft 7 and is capable of transmitting rotational force (rotational torque).
In the ultrasonic flaw detector 1 according to one embodiment, one end 71 of the flexible shaft 7 is connected to the output shaft 53 of the driving device 5 and the other end 72 is connected to the input shaft 39 of the moving device 3 .

The ultrasonic flaw detector 1 according to one embodiment further includes a control device (not shown). The control device is a device for acquiring and processing flaw detection data obtained by performing ultrasonic flaw detection on a test object (for example, the circular pipe 81 to be inspected described above) by the ultrasonic probe 2, and is a device for processing, for example, a computer. , and a storage device for storing the obtained flaw detection data.

(About ultrasonic flaw detection by the ultrasonic flaw detector 1)
Ultrasonic flaw detection by the above-described ultrasonic flaw detector 1 will be described below.
FIG. 11 is a flow chart showing the procedure of ultrasonic flaw detection by the ultrasonic flaw detector 1 described above.
As shown in FIG. 11, the ultrasonic flaw detection method according to some embodiments includes a step S1 of attaching the moving device 3, a step S2 of attaching the driving device 5, and a step S3 of performing ultrasonic flaw detection.

Note that either the step S1 of attaching the moving device 3 or the step S2 of attaching the driving device 5, which will be described below, may be performed first. Further, when performing the step S1 of attaching the moving device 3 and the step S2 of attaching the driving device 5, the flexible shaft 7 may be connected in advance to both the input shaft 39 and the output shaft 53, and the input shaft 39 or The flexible shaft 7 may be connected to only one of the output shafts 53 in advance, and the flexible shaft 7 is connected to the input shaft 39 and the output shaft 53 after performing the step S1 of attaching the moving device 3 and the step S2 of attaching the driving device 5. can be

(Step S1 of attaching the moving device 3)
The step S1 of attaching the moving device 3 is a step of attaching the moving device 3 to the circular pipe 81 to be inspected. In step S1 of attaching the moving device 3, an operator who performs ultrasonic flaw detection attaches the moving device 3 to the circular pipe 81 to be inspected, as shown in FIGS. 1A, 1B, and 4 to 7, for example.
In the step S1 of attaching the moving device 3 , the moving device 3 is attached to the circular pipe 81 to be inspected so that the input shaft 39 is positioned on one side of the circular pipe 81 to be inspected in the extending direction of the moving device 3 .
For convenience of explanation, of the extending directions of the input shaft 39, the direction in which the shaft end 39a of the connection portion of the input shaft 39 with the other end 72 of the flexible shaft 7 faces is one of the extending directions of the circular tube 81 to be inspected. and the opposite direction is the other side in the extending direction of the circular pipe 81 to be inspected.
For example, in FIGS. 1A, 5, and 7, the lower side in the figure is one side in the extending direction of the circular tube 81 to be inspected, and the upper side in the figure is the other side in the extending direction of the circular tube 81 to be inspected. For example, in FIG. 1B, the upper side in the drawing is one side in the extending direction of the circular pipe 81 to be inspected, and the lower side in the drawing is the other side in the extending direction of the circular pipe 81 to be inspected.
When the moving device 3 is attached to the circular pipe 81 to be inspected, the extending direction of the input shaft 39 becomes parallel to the axial direction of the circular pipe 81 to be inspected.

(Step S2 of attaching the driving device 5)
The step S2 of attaching the driving device 5 is a step of attaching the driving device 5 to a member or the like to which the driving device 5 can be attached. In the step S2 of attaching the driving device 5, for example, as shown in FIG. 1A, the driving device 5 may be attached to the circular tube 81 to be inspected to which the moving device 3 is attached. Further, in the step S2 of attaching the driving device 5, the driving device 5 may be attached to a circular tube 80 different from the circular tube 81 to be inspected to which the moving device 3 is attached, as shown in FIG. 1B, for example.

In the step S2 of attaching the driving device 5, a case will be described in which the driving device 5 is attached to the circular tube 81 to be inspected to which the moving device 3 is attached, as shown in FIG. 1A, for example.
In this case, in the step S2 of attaching the driving device 5, the output shaft 53 is located on the other side of the extending direction of the circular pipe 81 to be inspected in the driving device 5, and the driving device 5 is positioned closer to the moving device 3 than the moving device 3. The driving device 5 is attached to the circular pipe 81 to be inspected so as to be positioned on one side of the circular pipe 81 to be inspected. That is, in the step S2 of installing the driving device 5, the driving device 5 is mounted on the circular pipe 81 to be inspected so that the output shaft 53 is located on the other side of the circular pipe 81 to be inspected relative to the central axis c3 of the rotating device 556. It is attached.

As shown in FIG. 1A, when the driving device 5 is attached to the circular tube 81 to be inspected to which the moving device 3 is attached, the output shaft 53 facing the other side of the extending direction of the circular tube 81 to be inspected and the circle to be inspected The input shaft 39 facing one side in the extending direction of the tube 81 is connected by the flexible shaft 7 .

In the step S2 of attaching the driving device 5, as shown in FIG. 1B, for example, the case where the driving device 5 is attached to a circular pipe 80 different from the circular pipe 81 to be inspected to which the moving device 3 is attached will be described.
In this case, in the step S2 of attaching the driving device 5, the driving device 5 is mounted on the circular pipe 80 different from the circular pipe 81 to be inspected so that the output shaft 53 is positioned on one side of the circular pipe 81 to be inspected. to install. That is, in the step S2 of installing the driving device 5, the driving device 5 is mounted on the circular pipe 81 to be inspected so that the output shaft 53 is located on one side of the circular pipe 81 to be inspected relative to the central axis c3 of the rotating device 556. It is attached.
In this case, as shown in FIG. 1B, the driving device 5 may be attached to the circular pipe 80 adjacent to the circular pipe 81 to be inspected. It may be attached to two or more adjacent circular tubes 80 .

As shown in FIG. 1B, when the driving device 5 is attached to a circular pipe 80 different from the circular pipe 81 to be inspected to which the moving device 3 is mounted, the output shaft facing one side of the extending direction of the circular pipe 81 to be inspected 53 and the input shaft 39 facing one side in the extending direction of the circular pipe 81 to be inspected are connected by the flexible shaft 7 . In this case, the flexible shaft 7 is connected to the input shaft 39 and the output shaft 53 in a U-shaped bent state.

(Step S3 for performing ultrasonic flaw detection)
In step S3 of performing ultrasonic flaw detection, the output shaft 53 of the driving device 5 is rotationally driven to rotationally drive the input shaft 39 of the moving device 3 via the flexible shaft 7, thereby moving the moving device 3 in the circumferential direction. This is the step of ultrasonically testing the circular pipe 81 to be inspected by the ultrasonic probe 2 . That is, in step S3 for performing ultrasonic flaw detection, the circular pipe 81 to be inspected is ultrasonically flaw-detected while driving the electric motor 51 of the driving device 5 to move the moving device 3 in the circumferential direction.

In step S3 for ultrasonic flaw detection, the output shaft 53 can be moved by the output shaft moving mechanism 55 so as to follow the flexible shaft 7 that moves along with the movement of the moving device 3 in the circumferential direction.
For example, FIG. 1A shows a state in which the output shaft 53 is oscillated about the center axis c3 by the rotating device 556 .
For example, FIG. 1B shows a state in which the output shaft 53 is moved to one side (left side in the figure) in the y direction by the linear motion device 551 .

Note that, as shown in FIG. 1B, when the driving device 5 is attached to a circular pipe 80 different from the circular pipe 81 to be inspected to which the moving device 3 is attached, in step S2 of mounting the driving device 5, it is bent in a U shape. By transmitting the rotational force of the output shaft 53 to the input shaft 39 via the flexible shaft 7 connected to the input shaft 39 and the output shaft 53 in this state, the moving device 3 can be moved in the circumferential direction.

(summary)
The contents described in each of the above embodiments are understood as follows, for example.
(1) An ultrasonic flaw detection device 1 according to at least one embodiment of the present disclosure is an ultrasonic flaw detection device 1 for ultrasonically detecting a plurality of circular tubes 80 arranged at intervals in the radial direction. An ultrasonic flaw detector 1 according to at least one embodiment of the present disclosure includes at least one ultrasonic probe 2 . The ultrasonic flaw detector 1 according to at least one embodiment of the present disclosure has a rotational force input shaft 39 and a drive wheel 37 that is rotationally driven by the rotational force input to the input shaft 39. By rotation, at least one ultrasonic probe 2 is configured to move in the circumferential direction along the outer peripheral surface 80a of the circular tube 80 to be inspected (circular tube 81 to be inspected) among the plurality of circular tubes 80. A mobile device 3 is provided. An ultrasonic flaw detector 1 according to at least one embodiment of the present disclosure includes a drive device 5 having a rotational force output shaft 53 and a drive source (electric motor 51 ) that rotationally drives the output shaft 53 . The ultrasonic flaw detector 1 according to at least one embodiment of the present disclosure includes a flexible shaft 7 for transmitting the rotational force of the output shaft 53 to the input shaft 39. The driving device 5 has a mounting portion 54 for mounting the driving device 5 on a circular pipe 80 different from the circular pipe 80 to be inspected (circular pipe 81 to be inspected), and the output shaft 53 can move with respect to the mounting portion 54. and an output shaft moving mechanism 55. The flexible shaft 7 is positioned on one side in the extending direction of the circular pipe 80 to be inspected (circular pipe 81 to be inspected) in the moving device 3 attached to the circular pipe 80 to be inspected (circular pipe 81 to be inspected). It is connected to the shaft 39 and the output shaft 53 located on one side of the driving device 5 attached to a circular pipe 80 different from the circular pipe 80 to be inspected (circular pipe 81 to be inspected). Rotational force can be transmitted to the input shaft 39 . The output shaft moving mechanism 55 allows the output shaft 53 to move following the flexible shaft 7 that moves as the moving device 3 moves in the circumferential direction.

According to the configuration (1) above, the moving device 3 for moving the ultrasonic probe 2 in the circumferential direction along the outer peripheral surface 80a of the circular pipe 80 to be inspected (circular pipe 81 to be inspected), and the driving Since the moving device 3 is separated from the device 5, the size of the moving device 3 can be reduced. As a result, when ultrasonic flaw detection is performed on a plurality of circular pipes 80 that are spaced apart in the radial direction, even if the space between the adjacent circular pipes 80 is relatively narrow, the outer peripheral surface 80a of the circular pipe 80 can be The ultrasonic probe 2 can be moved along with the driving force of the driving source (electric motor 51). Further, according to the configuration (1) above, since the driving force from the driving device 5 separated from the moving device 3 is transmitted to the moving device 3 via the flexible shaft 7, the driving device 5 can be arranged freely. degree increases. This makes it easier to dispose the driving device 5 when ultrasonic flaw detection is performed on a plurality of circular tubes 80 arranged at intervals in the radial direction.

(2) In some embodiments, in the configuration of (1) above, the flexible shaft 7 may be connected to the input shaft 39 and the output shaft 53 while being bent in a U-shape.

In the configuration (1) above, since the moving device 3 moves the circular pipe 80 to be inspected (the circular pipe 81 to be inspected) in the circumferential direction, the flexible shaft 7 needs to have a certain length. Therefore, it is necessary to devise how to handle the relatively long flexible shaft 7 .
In this respect, according to the configuration (2) above, the relatively long flexible shaft 7 can be arranged without difficulty, and the flexible shaft 7 can easily follow the movement of the moving device 3 in the circumferential direction. As a result, the movement range of the moving device 3 in the circumferential direction can be made relatively large, and the flaw detection range of the ultrasonic probe 2 in the circumferential direction can be made relatively large.

(3) In some embodiments, in the configuration of (1) or (2) above, the output shaft moving mechanism 55 has a different circular pipe 80 to be inspected (circular pipe 81 to be inspected) by the mounting portion 54 . When attached to the tube 80 , it is preferable to support the output shaft 53 so as to be able to move in the direction in which the circular tubes 80 are arranged (for example, the y direction).

According to the configuration (3) above, it becomes easier for the flexible shaft 7 to follow the movement of the moving device 3 in the circumferential direction. As a result, the movement range of the moving device 3 in the circumferential direction can be made relatively large, and the flaw detection range of the ultrasonic probe 2 in the circumferential direction can be made relatively large.

(4) In some embodiments, in the configuration of (3) above, the distance in which the output shaft 53 can be moved by the output shaft moving mechanism 55 in the arrangement direction (for example, the y direction) is equal to or greater than the diameter of the circular tube 80. Good to have.

According to the configuration (4) above, it becomes easier for the flexible shaft 7 to follow the movement of the moving device 3 in the circumferential direction. As a result, the movement range of the moving device 3 in the circumferential direction can be further increased, and the flaw detection range in the circumferential direction of the ultrasonic probe 2 can be further increased.

(5) The ultrasonic flaw detector 1 according to at least one embodiment of the present disclosure is an ultrasonic flaw detector 1 for ultrasonically detecting a plurality of circular tubes 80 arranged at intervals in the radial direction. An ultrasonic flaw detector 1 according to at least one embodiment of the present disclosure includes at least one ultrasonic probe 2 . The ultrasonic flaw detector 1 according to at least one embodiment of the present disclosure has a rotational force input shaft 39 and a drive wheel 37 that is rotationally driven by the rotational force input to the input shaft 39. By rotation, at least one ultrasonic probe 2 is configured to move in the circumferential direction along the outer peripheral surface 80a of the circular tube 80 to be inspected (circular tube 81 to be inspected) among the plurality of circular tubes 80. A mobile device 3 is provided. An ultrasonic flaw detector 1 according to at least one embodiment of the present disclosure includes a drive device 5 having a rotational force output shaft 53 and a drive source (electric motor 51 ) that rotationally drives the output shaft 53 . The ultrasonic flaw detector 1 according to at least one embodiment of the present disclosure includes a flexible shaft 7 for transmitting the rotational force of the output shaft 53 to the input shaft 39. The drive device 5 includes a mounting portion 54 for mounting the drive device 5 to the circular pipe 80 to be inspected (circular pipe 81 to be inspected) and an output shaft moving mechanism that allows the output shaft 53 to move with respect to the mounting portion 54. 55 and The flexible shaft 7 is positioned on one side in the extending direction of the circular pipe 80 to be inspected (circular pipe 81 to be inspected) in the moving device 3 attached to the circular pipe 80 to be inspected (circular pipe 81 to be inspected). It is connected to the shaft 39 and the output shaft 53 positioned on the other side in the extending direction in the driving device 5 attached to the circular pipe 80 to be inspected (circular pipe 81 to be inspected) on one side of the moving device 3. , the rotational force of the output shaft 53 can be transmitted to the input shaft 39 . The output shaft moving mechanism 55 allows the output shaft 53 to move following the flexible shaft 7 that moves as the moving device 3 moves in the circumferential direction.

According to the configuration (5) above, the moving device 3 for moving the ultrasonic probe 2 in the circumferential direction along the outer peripheral surface 80a of the circular pipe 80 to be inspected (circular pipe 81 to be inspected), and the driving Since the moving device 3 is separated from the device 5, the size of the moving device 3 can be reduced. As a result, when ultrasonic flaw detection is performed on a plurality of circular pipes 80 that are spaced apart in the radial direction, even if the space between the adjacent circular pipes 80 is relatively narrow, the outer peripheral surface 80a of the circular pipe 80 can be The ultrasonic probe 2 can be moved along with the driving force of the driving source (electric motor 51). Further, according to the configuration (5) above, since the driving force from the driving device 5 separated from the moving device 3 is transmitted to the moving device 3 via the flexible shaft 7, the driving device 5 can be arranged freely. degree increases. This makes it easier to dispose the driving device 5 when ultrasonic flaw detection is performed on a plurality of circular tubes 80 arranged at intervals in the radial direction.

(6) In some embodiments, in any one of the above configurations (1) to (5), the output shaft moving mechanism 55 has a swing center extending in a direction intersecting the extending direction of the output shaft 53. It is preferable that the output shaft 53 is pivotally supported so as to be able to swing around the axis (center axis c3).

According to the configuration (6) above, it becomes easier for the flexible shaft 7 to follow the movement of the moving device 3 in the circumferential direction. As a result, the movement range of the moving device 3 in the circumferential direction can be made relatively large, and the flaw detection range of the ultrasonic probe 2 in the circumferential direction can be made relatively large.

(7) In some embodiments, the driving wheels 37 may be attached to the input shaft 39 in any one of the above configurations (1) to (6).

According to the configuration of (7) above, since there is no need to provide a speed reducer in the moving device 3, the moving device 3 can be made smaller. As a result, when ultrasonic flaw detection is performed on a plurality of circular pipes 80 that are spaced apart in the radial direction, even if the space between the adjacent circular pipes 80 is relatively narrow, the outer peripheral surface 80a of the circular pipe 80 can be The ultrasonic probe 2 can be moved along with the driving force of the driving source (electric motor 51).

(8) The ultrasonic flaw detection method according to at least one embodiment of the present disclosure is ultrasonic flaw detection for ultrasonic flaw detection of a plurality of circular tubes 80 arranged at intervals in the radial direction using the ultrasonic flaw detector 1. The method. The ultrasonic flaw detector 1 includes at least one ultrasonic probe 2 . The ultrasonic flaw detector 1 has a rotational force input shaft 39 and a drive wheel 37 that is rotationally driven by the rotational force input to the input shaft 39 . A moving device 3 configured to move the element 2 in the circumferential direction along the outer peripheral surface 80a of the circular tube 80 to be inspected (the circular tube 81 to be inspected) among the plurality of circular tubes 80 is provided. The ultrasonic flaw detector 1 includes a drive device 5 having a rotational force output shaft 53 and a drive source (electric motor 51 ) that drives the output shaft 53 . The ultrasonic flaw detector 1 has a flexible shaft 7 for transmitting the rotational force of the output shaft 53 to the input shaft 39 . The driving device 5 has a mounting portion 54 for mounting the driving device 5 on a circular pipe 80 different from the circular pipe 80 to be inspected (circular pipe 81 to be inspected), and the output shaft 53 can move with respect to the mounting portion 54. and an output shaft moving mechanism 55. In the ultrasonic flaw detection method according to at least one embodiment of the present disclosure, the moving device 3 is configured such that the input shaft 39 is positioned on one side in the extending direction of the circular pipe 80 to be inspected (circular pipe 81 to be inspected). 3 to a circular pipe 80 to be inspected (circular pipe 81 to be inspected); Step S2 of attaching to a circular pipe 80 different from the circular pipe 81), and rotating the input shaft 39 of the moving device 3 via the flexible shaft 7 by rotationally driving the output shaft 53 of the driving device 5 to move. A step S3 of ultrasonically inspecting the circular pipe 80 to be inspected (circular pipe 81 to be inspected) by at least one ultrasonic probe 2 while moving the device 3 in the circumferential direction is provided. In step S3 for ultrasonically inspecting the circular pipe 80 to be inspected (circular pipe 81 to be inspected), the output shaft moving mechanism 55 moves the flexible shaft 7 along with the movement of the moving device 3 in the circumferential direction. The output shaft 53 is moved.

According to the method (8) above, the moving device 3 for moving the ultrasonic probe 2 in the circumferential direction along the outer peripheral surface 80a of the circular pipe 80 to be inspected (circular pipe 81 to be inspected), and the driving Since the device 5 is attached to a different circular tube 80, the driving device 5 can be separated from the moving device 3, and the moving device 3 can be made smaller. As a result, when ultrasonic flaw detection is performed on a plurality of circular pipes 80 that are spaced apart in the radial direction, even if the space between the adjacent circular pipes 80 is relatively narrow, the outer peripheral surface 80a of the circular pipe 80 can be The ultrasonic probe 2 can be moved along with the driving force of the driving source (electric motor 51). Further, according to the method (8), the driving force from the driving device 5 is transmitted to the moving device 3 through the flexible shaft 7, so that the degree of freedom of arrangement of the driving device 5 is increased. This makes it easier to dispose the driving device 5 when ultrasonic flaw detection is performed on a plurality of circular tubes 80 arranged at intervals in the radial direction.

(9) In some embodiments, in the method of (8) above, in the step S3 of ultrasonically inspecting the circular pipe 80 to be inspected (the circular pipe 81 to be inspected), the The rotating force of the output shaft 53 may be transmitted to the input shaft 39 via the flexible shaft 7 connected to the shaft 39 and the output shaft 53 to move the moving device 3 in the circumferential direction.

In the above method (8), since the moving device 3 moves the circular pipe 80 to be inspected (the circular pipe 81 to be inspected) in the circumferential direction, the flexible shaft 7 needs to have a certain length. Therefore, it is necessary to devise how to handle the relatively long flexible shaft 7 .
In this respect, according to the above method (9), the relatively long flexible shaft 7 can be arranged without difficulty, and the flexible shaft 7 can easily follow the movement of the moving device 3 in the circumferential direction. As a result, the movement range of the moving device 3 in the circumferential direction can be made relatively large, and the flaw detection range of the ultrasonic probe 2 in the circumferential direction can be made relatively large.

(10) The ultrasonic flaw detection method according to at least one embodiment of the present disclosure is an ultrasonic flaw detection for ultrasonically detecting a plurality of circular tubes 80 arranged at intervals in the radial direction using the ultrasonic flaw detector 1. The method. The ultrasonic flaw detector 1 includes at least one ultrasonic probe 2 . The ultrasonic flaw detector 1 has a rotational force input shaft 39 and a drive wheel 37 that is rotationally driven by the rotational force input to the input shaft 39 . A moving device 3 configured to move the element 2 in the circumferential direction along the outer peripheral surface 80a of the circular tube 80 to be inspected (the circular tube 81 to be inspected) among the plurality of circular tubes 80 is provided. The ultrasonic flaw detector 1 includes a drive device 5 having a rotational force output shaft 53 and a drive source (electric motor 51 ) that rotationally drives the output shaft 53 . The ultrasonic flaw detector 1 has a flexible shaft 7 for transmitting the rotational force of the output shaft 53 to the input shaft 39 . The drive device 5 includes a mounting portion 54 for mounting the drive device 5 to the circular pipe 80 to be inspected (circular pipe 81 to be inspected) and an output shaft moving mechanism that allows the output shaft 53 to move with respect to the mounting portion 54. 55 and In the ultrasonic flaw detection method according to at least one embodiment of the present disclosure, the moving device 3 is configured such that the input shaft 39 is positioned on one side in the extending direction of the circular pipe 80 to be inspected (circular pipe 81 to be inspected). 3 to the circular pipe 80 to be inspected (circular pipe 81 to be inspected); Step S2 of attaching the driving device 5 to the circular pipe 80 to be inspected (circular pipe 81 to be inspected) so that it is located on one side of the flexible shaft 7 by rotationally driving the output shaft 53 of the driving device 5. While rotating the input shaft 39 of the moving device 3 via the at least one ultrasonic probe 2 while moving the moving device 3 in the circumferential direction and a step S3 of ultrasonic flaw detection. In step S3 for ultrasonically inspecting the circular pipe 80 to be inspected (circular pipe 81 to be inspected), the output shaft moving mechanism 55 moves the flexible shaft 7 along with the movement of the moving device 3 in the circumferential direction. The output shaft 53 is moved.

According to the method (10) above, the moving device 3 for moving the ultrasonic probe 2 in the circumferential direction along the outer peripheral surface 80a of the circular pipe 80 to be inspected (circular pipe 81 to be inspected), and the driving Since the device 5 is attached separately in the extending direction of the circular pipe 80 to be inspected (circular pipe 81 to be inspected), the driving device 5 can be separated from the moving device 3 to reduce the size of the moving device 3 . As a result, when ultrasonic flaw detection is performed on a plurality of circular pipes 80 that are spaced apart in the radial direction, even if the space between the adjacent circular pipes 80 is relatively narrow, the outer peripheral surface 80a of the circular pipe 80 can be The ultrasonic probe 2 can be moved along with the driving force of the driving source (electric motor 51). Further, according to the method (10), the driving force from the driving device 5 is transmitted to the moving device 3 through the flexible shaft 7, so that the degree of freedom in arranging the driving device 5 is increased. This makes it easier to dispose the driving device 5 when ultrasonic flaw detection is performed on a plurality of circular tubes 80 arranged at intervals in the radial direction.

The present disclosure is not limited to the above-described embodiments, and includes modifications of the above-described embodiments and modes in which these modes are combined as appropriate.

1 Ultrasonic flaw detector 2 Ultrasonic probe 3 Moving device 5 Driving device 7 Flexible shaft 31 First unit 32 Second unit 33 Holding part 34 Winding arm part 35 Link member 36 Wheel 37 Driving wheel 38 Connecting part 39 Input shaft 39a Shaft end 41 of connecting part Encoder 51 Electric motor 52 Reduction gear 53 Output shaft 54 Mounting part 43 Mounting part 55 Output shaft moving mechanism 71 One end 72 The other end 80 Circular pipe 80a Outer peripheral surface 80b Butt welding part 81 Circular pipe to be inspected ( circular pipe to be inspected)
541 main body 542 arm 543 link 544 magnet 551 direct acting device 552 base 553 moving part 556 rotating device 557 base 558 rotating part

Claims (10)

An ultrasonic flaw detector for ultrasonically detecting a plurality of circular pipes arranged at intervals in the radial direction,
at least one ultrasonic probe;
an input shaft for a rotational force; and a drive wheel that is rotationally driven by the rotational force input to the input shaft, and rotates the at least one ultrasonic probe of the plurality of circular tubes by rotation of the drive wheel. a moving device configured to move in the circumferential direction along the outer peripheral surface of the circular pipe to be inspected in the
a drive device having a rotational force output shaft and a drive source for rotationally driving the output shaft;
a flexible shaft for transmitting the rotational force of the output shaft to the input shaft;
with
The driving device includes a mounting portion for mounting the driving device to the circular pipe different from the circular pipe to be inspected, an output shaft moving mechanism capable of moving the output shaft with respect to the mounting portion, has
The flexible shaft has the input shaft positioned on one side in the extending direction of the circular pipe to be inspected in the moving device attached to the circular pipe to be inspected, and the flexible shaft different from the circular pipe to be inspected. and the output shaft located on the one side of the driving device attached to a circular pipe, and capable of transmitting the rotational force of the output shaft to the input shaft,
The output shaft moving mechanism permits the output shaft to move following the flexible shaft that moves as the moving device moves in the circumferential direction. 2. The ultrasonic flaw detector according to claim 1, wherein the flexible shaft is connected to the input shaft and the output shaft in a U-shaped bent state. The output shaft moving mechanism movably supports the output shaft in an arrangement direction of the plurality of circular pipes when the output shaft moving mechanism is mounted on the circular pipe different from the circular pipe to be inspected by the mounting portion. The ultrasonic flaw detector according to claim 1 or 2. 4. The ultrasonic flaw detector according to claim 3, wherein the distance over which the output shaft can be moved in the arrangement direction by the output shaft moving mechanism is equal to or greater than the diameter of the circular pipe. An ultrasonic flaw detector for ultrasonically detecting a plurality of circular pipes arranged at intervals in the radial direction,
at least one ultrasonic probe;
an input shaft for a rotational force; and a drive wheel that is rotationally driven by the rotational force input to the input shaft, and rotates the at least one ultrasonic probe of the plurality of circular tubes by rotation of the drive wheel. a moving device configured to move in the circumferential direction along the outer peripheral surface of the circular pipe to be inspected in the
a drive device having a rotational force output shaft and a drive source for rotationally driving the output shaft;
a flexible shaft for transmitting the rotational force of the output shaft to the input shaft;
with
The driving device has a mounting portion for mounting the driving device to the circular pipe to be inspected, and an output shaft moving mechanism that enables the output shaft to move with respect to the mounting portion,
The flexible shaft includes the input shaft positioned on one side of the circular pipe to be inspected in the extending direction of the circular pipe to be inspected in the moving device attached to the circular pipe to be inspected, and the flexible shaft on the one side of the moving device. is connected to the output shaft located on the other side in the extending direction in the driving device attached to the circular pipe to be inspected, and is capable of transmitting the rotational force of the output shaft to the input shaft;
The output shaft moving mechanism permits the output shaft to move following the flexible shaft that moves as the moving device moves in the circumferential direction. 5. Any one of claims 1, 2, and 4, wherein the output shaft moving mechanism pivotally supports the output shaft so as to be able to swing around a swing center axis extending in a direction intersecting the extending direction of the output shaft. 1. The ultrasonic flaw detector according to claim 1. 5. The ultrasonic flaw detector according to claim 1, wherein the drive wheel is attached to the input shaft. An ultrasonic flaw detection method for ultrasonically flaw-detecting a plurality of circular tubes arranged at intervals in the radial direction using an ultrasonic flaw detector,
The ultrasonic flaw detector,
at least one ultrasonic probe;
an input shaft for a rotational force; and a drive wheel that is rotationally driven by the rotational force input to the input shaft, and rotates the at least one ultrasonic probe of the plurality of circular tubes by rotation of the drive wheel. a moving device configured to move in the circumferential direction along the outer peripheral surface of the circular pipe to be inspected in the
a drive device having a rotational force output shaft and a drive source for rotationally driving the output shaft;
a flexible shaft for transmitting the rotational force of the output shaft to the input shaft;
with
The driving device includes a mounting portion for mounting the driving device to the circular pipe different from the circular pipe to be inspected, an output shaft moving mechanism capable of moving the output shaft with respect to the mounting portion, has
a step of attaching the moving device to the circular pipe to be inspected so that the input shaft is positioned on one side in the extending direction of the circular pipe to be inspected in the moving device;
a step of attaching the driving device to the circular pipe different from the circular pipe to be inspected so that the output shaft is positioned on the one side of the driving device;
Rotationally driving the output shaft of the driving device rotates the input shaft of the moving device through the flexible shaft to move the moving device in the circumferential direction, thereby performing the at least one ultrasonic probe. a step of ultrasonically inspecting the circular pipe to be inspected by an element;
with
In the step of ultrasonically inspecting the circular pipe to be inspected, the output shaft is moved by the output shaft moving mechanism so as to follow the flexible shaft that moves with the movement of the moving device in the circumferential direction. Sonic flaw detection method. In the step of ultrasonically inspecting the circular pipe to be inspected, the rotational force of the output shaft is applied to the input shaft through the flexible shaft connected to the input shaft and the output shaft in a U-shaped bent state. 9. The ultrasonic flaw detection method according to claim 8, wherein the moving device is moved in the circumferential direction by transmitting to. An ultrasonic flaw detection method for ultrasonically flaw-detecting a plurality of circular tubes arranged at intervals in the radial direction using an ultrasonic flaw detector,
The ultrasonic flaw detector,
at least one ultrasonic probe;
an input shaft for a rotational force; and a drive wheel that is rotationally driven by the rotational force input to the input shaft, and rotates the at least one ultrasonic probe of the plurality of circular tubes by rotation of the drive wheel. a moving device configured to move in the circumferential direction along the outer peripheral surface of the circular pipe to be inspected in the
a drive device having a rotational force output shaft and a drive source for rotationally driving the output shaft;
a flexible shaft for transmitting the rotational force of the output shaft to the input shaft;
with
The driving device has a mounting portion for mounting the driving device to the circular pipe to be inspected, and an output shaft moving mechanism that enables the output shaft to move with respect to the mounting portion,
attaching the moving device to the circular pipe to be inspected so that the input shaft is positioned on one side in the extending direction of the circular pipe to be inspected in the moving device;
The driving device is arranged so that the output shaft is located on the other side of the extending direction of the driving device and the driving device is located on the one side of the moving device. attaching to
The output shaft of the driving device is rotationally driven to rotationally drive the input shaft of the moving device via the flexible shaft, thereby moving the moving device in the circumferential direction, and the at least one ultrasonic probe is performed. a step of ultrasonically inspecting the circular pipe to be inspected by an element;
with
In the step of ultrasonically inspecting the circular pipe to be inspected, the output shaft is moved by the output shaft moving mechanism so as to follow the flexible shaft that moves with the movement of the moving device in the circumferential direction. Sonic flaw detection method.

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