JPH03128189A - Inspecting truck for welded joint - Google Patents

Abstract

PURPOSE:To facilitate the operation of the inspecting truck and X-ray film and to improve the efficiency of an inspecting operation by inserting a mirror in the lower half part of the luminous flux of the optical path of a monitoring television camera with the X-ray inspecting truck for the welded joint of a steel structure. CONSTITUTION:The inspecting truck 1 is constituted by providing the monitoring camera 9 at the front end of the truck, directing the optical axis of the lens diagonally downward and forward in the traveling direction of the truck 1, inserting the mirror 13 in the range of the incident optical path to the lower half of the visual field of the monitoring camera 9, and adjusting the mirror in such a manner that the surface of the steel structure in the lower part near the front end of an X-ray film pack device 8 provided in the lower part of the inspecting truck 1 enters the lower half of the visual field of the monitoring camera 9 via the mirror 13. The exact operation of the truck 1 and stop of the X-ray photographing position and the assurance of the parallelism of the weld line and the X-ray film are facilitated in this way. The efficiency of the inspecting operation and the accuracy of the x-ray film mounting are thus improved.

Description

[Detailed Description of the Invention] The present invention relates to an inspection trolley used in an inspection system for X-ray inspection of welded joints of iron bridges, and particularly to an inspection trolley used in an inspection system for X-ray inspection of welded joints of iron bridges. This invention relates to an inspection trolley that is operated to run along a welding line on the surface of a steel structure.

As shown in Fig. 8, the penstock pipe for hydroelectric power generation is installed in a tunnel 10 that has been excavated in advance to have an inner diameter larger than the outer circumferential surface of the iron pipe 7. The iron pipes are brought in and joined together by welding within the tunnel 10 to form one long penstock iron pipe.

Welding of this joint is performed from the inside of the iron pipe using an automatic welding machine, but X-ray inspection and welding inspection are required after completion of welding. )l irradiation is applied to the inside of the iron pipe.
This is done by installing an X-ray device, but the X-ray film pack must be placed outside the iron tube and exposed to light. In addition, welding waves must also be viewed from the outside of the iron pipe. Therefore, in the past, the clearance C between the outer surface of the penstock 7 and the inner surface of the tunnel 10 had to be at least 600 m/m or more, which is the gap size that a person can barely pass through, which is a disadvantage in terms of high costs. there were.

Therefore, the present inventors developed an inspection system that does not require a person to enter between the inner surface of the tunnel and the outer surface of the penstock.
Proposed by No.-66146.

As shown in Fig. 6, this system includes a trackless all-position self-propelled inspection trolley 1, a monitor television receiver 2, a power box 3, an operating device 4, and electric wires 5 connecting these. .

The inspection trolley 1 is movably adsorbed to the outer surface of the iron pipe 7 as shown in FIG. , forward, backward, start, stop, acceleration/deceleration,
Turning is controlled.

The inspection trolley 1 is provided with a guide groove 8 in which an X-ray film pack can be attached in close proximity to the outer surface of the iron tube while adsorbed to the outer surface of the iron tube. Also, inside the inspection trolley 1 near the front end in the running direction, a monitoring television camera 9 is installed with a lens optical axis so that it can photograph a predetermined range of the outer surface of the iron pipe at a predetermined distance in front of the inspection trolley in the running direction. It is installed facing forward and downward.

This system allows you to see the weld line on the outer surface of the iron pipe photographed by the surveillance television camera 9 and displayed on the monitor television receiver 2, the marking line that has been marked in advance at a predetermined position across the weld line, and the photographing position No. 1. However, it has become possible to run the cart along the welding line, stop it at a predetermined position, perform X-ray photography, and check for welding waves.

However, while watching the image of the outside of the iron pipe in one place in front of the trolley taken by a TV camera on a monitor TV,
It is particularly difficult to move the truck backwards using the operating device 4. When operating while watching the image from a TV camera, the operator must operate the controls so that the weld line appears perpendicular to the center of the screen while looking at the weld line reflected on the screen. Since the camera 9's shooting position is in front of the trolley, the shooting range of the TV camera 9 will be outside the welding line. Or, you may not know if you should go back at all, and you move the trolley around in the dark, unable to find the weld line.

In addition, when performing X-ray photography of the weld line, as shown in FIG. 7, Xl &! It is necessary to stop the inspection cart 1 accurately at the position where the film is held. Therefore, mark lines are drawn in advance on both sides of the weld line on the inner and outer surfaces of the penstock 7, so that both ends of the X-ray imaging range and the front and rear ends of the X-ray film pack on the inspection cart are aligned with the mark lines. .

It is easy to adjust the X-ray irradiation range of the X-ray generator 11 to this position, but when the X-ray film pack held on the inspection trolley 1 is adjusted to this position, the image projected on the television receiver 2 The position of the X-ray film pack is estimated from the position of the marking line in front of the trolley and the traveling distance of the trolley.
Stopping the inspection trolley is difficult to ensure accuracy, and the area imaged on the X-ray film may deviate from the X-ray irradiation area, the penetrameter that should be imprinted on the edge of the X-ray film may not be visible, or welding may occur. There is a risk that the parallelism between the line and the X-ray film may deviate.

Problems to be Solved by the Invention In view of the above-mentioned problems of the above-mentioned X-ray inspection cart that the present inventors had previously proposed, the present invention provides a system in which images are taken by a television camera mounted on the inspection cart and the images are received on a monitor television. The first objective is to provide an inspection trolley that can be easily driven by remote control along the welding line on the surface of a steel structure while viewing the video image. A second object is to provide a welded joint inspection trolley that can be easily stopped by accurately aligning the position with the marking line marked on the surface of a steel structure and ensuring parallelism between the welding line and the X-ray film. shall be.

Means for Solving the Disaster The present invention provides an inspection trolley for a steel structure welded joint inspection system configured as described above in order to solve the first problem.

A mirror is provided in the range of the optical path that enters the lower half of the field of view of the television camera, and the lower half of the field of view of the television camera is a region behind the mirror and directly below the front end of the truck in the lower half of the field of view of the television camera. The mounting position and angle of the mirror are set so that the mirror is reflected.

In addition, the inspection trolley for solving the second problem mentioned above has two guide needles on the left and right that are located downward from near the front end of the X-ray film pack attachment part of the upper rudder trolley, and their tips are close to the surface of the steel structure. The tip of the marking needle is protruded in such a way that, on the monitor TV screen, it appears to be in contact with the marking line previously marked on the surface of the steel structure at a predetermined stopping position of the cart for X-ray photography. It is characterized by being

According to the former configuration described above, the monitor TV has a predetermined area near the center line of the cart on the outer surface of the iron pipe near the front end of the X-ray film pack in front of the front end of the inspection cart and behind the front end. The image is displayed on the upper and lower halves at the same time. If the trolley is running with its center line aligned with the weld line at 11X,
The welding line will appear in a straight line vertically on the center line of the upper and lower screens, so all you have to do is move one cart straight.0 If the direction of the cart is tilted to the welding line, the center line of the cart will be an extension of the center line in front of the cart. Although the line deviates significantly from the weld line, the amount of deviation between the center line and the weld line becomes smaller at the rear (from the front end of the 4-bogie). As a result, on the monitor TV screen, the weld line appears to be far off the center line in the upper half, and to a lesser extent in the bottom half. Therefore, if the center line of the trolley is steered in the direction where it overlaps the welding line using the controller, the welding lines of the upper and lower screens will both move toward the center of the screen, and if the center of the trolley matches the welding line, the welding line of one screen will be The top and bottom match and come to the center. This ensures parallelism between the weld line and the XIIA film. Also. Even if the tilt of the trolley becomes large and the weld line goes out of the range of the screen on the upper half of the monitor TV, the amount of deviation of the weld line from the center line of the trolley will be reduced on the lower half of the screen. Therefore, it often remains on the screen. Therefore, the possibility of losing sight of the target is considerably reduced compared to the conventional method, and the traveling operation of the truck along the weld line becomes easier than the conventional method.

Next, according to the latter configuration, the marking line marked along the weld line on the outer surface of the iron pipe and the guide needle provided on the lower surface of the front end of the X-ray film pack holding part of one cart are simultaneously placed on the lower half of the monitor TV. If you set it in advance so that when the predetermined edge of the marking line and the tip of the guide needle match, the cart will stop at the correct position, you can move the cart along the welding line while watching the screen on the TV monitor. While moving straight ahead, first check the photographing position number written near the marking line in the upper half of the field of view on the monitor TV, then check that the guide needle tip is aligned with the edge of the marking line in the lower half of the field of view, and then Stop the cart at the location. By doing so, the X-ray irradiation range by the X-ray generator inside the iron tube and the position of the X-ray film inside the Xa film pack completely match.

Embodiments of the present invention will be described in detail below with reference to the drawings.

FIG. 1 is a diagram showing the vicinity of the front end of an inspection cart according to an embodiment of the present invention.

A surveillance camera 9 is mounted on the front end of the inspection trolley 1. As the surveillance camera, an industrial television camera, a CCD video camera, etc. are used. The optical axis of the lens of the surveillance camera 9 is directed diagonally downward and forward in the traveling direction of the trolley 1, and the Ii! opening at a predetermined position ahead of the front end of the stand 11 (on the outer surface of the iron pipe) comes into the field of view of the surveillance camera. Like!l
! A mirror 13 is inserted in the range of the optical path that enters the lower half of the field of view of the 6 surveillance cameras that are aligned, and a mirror 13 is inserted into the lower iron pipe surface near the front end of the X-ray film pack mounting section 8 provided at the bottom of the inspection trolley 1. enters the lower half of the field of view of the surveillance camera 9 via the mirror ↓3. The trolley 1 is provided with an illumination lamp (not shown) that illuminates a portion of the surface of the iron pipe that is within the field of view of the surveillance camera.

On both sides of the welder 14 on the surface 7 of the iron pipe 7, marking lines 5 indicating the ends of the X-ray imaging range are drawn in advance with a certain width. On the other hand, guide needles L6 are attached to the left and right sides downward from the front end of the lower surface of the X-ray film pack mounting section 8 on one carriage. A slight gap is provided between the tip of the guide needle 16 and the surface of the steel pipe, and a surveillance camera is emitted from one edge of the marking line at a predetermined position of the cart (with respect to the marking line) 5, and is transmitted through the mirror 13. The tip of the guide needle 16 is arranged to be in contact with the light beam incident on the lens 9.

FIG.
1.4, in the diagram showing the field of view of the surveillance television camera 9 when moving, the area surrounded by chain lines is in the upper half of the field of view, and the area B is turned over and is in the lower half of the field of view. incident. However, a part of the light emitted from the area B on the outer surface of the iron tube is blocked by the X-ray film pack holder 8 at the bottom of the trolley 1 and enters the lens of the television camera. As shown in Figure 3, the two halves show the area A on the surface of the iron tube, and the bottom half shows the front end surface of the X-ray film pack holding section 8 of the cart and the two guide needles 16 fixed below it. The area B on the surface of the iron pipe is shown below. When the center line of the trolley 1 coincides with the welding line 4, the welding line will be aligned with the center line 4 of the screen of the monitor television 2 in both the upper and lower half of the screen.

However, as shown in FIG. 4, when the truck runs diagonally to the welding line 14, the welding line 14 deviates from the center of the field of view in ranges A and B of the iron pipe surface that are within the field of view of the television camera 9. , appears at a position offset from the center line on the screen of monitor television 2.

Therefore, all you have to do is turn the steering wheel so that the weld line is in the center of the screen.

When the cart moves obliquely to the welding line, the amount of deviation of the welding line from the center line on the TV screen is smaller in the lower half than in the upper half, so conventionally, the image of the welding line on the TV screen is Even if you lose sight of the welding line, in the case of the device of the present invention, the image of the welding line will often appear in the lower half of the TV screen, making operation easier and making it easier to weld at the X-ray imaging position and view the X-ray film. Parallelism is ensured.

Next, when stopping the trolley 1 in line with the marking line 15 for IAI photography of the welding line, first
Check the photographing position number written near the marking line 15 in the field of view in the upper half of the screen, move the cart straight ahead with its center line aligned with the welding line using the method described above, and read the following on the monitor TV screen.
As shown in FIG. 3, the tip of the guide needle 16
What is necessary is to stop the cart 1 at a position in contact with one predetermined edge of the wheel 5.

As in the past, the back wave bead of the weld line can be visually recognized on the monitor TV.

The above has described the inspection cart of the present invention, which is intended for inspecting welded joints of power generation penstocks. However, the present invention is not limited to this, and the present invention is not limited to this, but can also be used to inspect objects such as single-spherical tanks, shaped cylindrical flat-bottomed tanks, etc. that an inspector approaches directly. It can be used for welding inspections of various iron bridge structures where scaffolding is costly or dangerous, and similar effects can be obtained.

Effects As described above, according to the present invention, with a simple configuration in which a mirror is inserted at an appropriate angle into the lower half of the light beam of the optical path of a fixed viewing television camera, it is possible to operate the inspection trolley and accurately position the X-ray photographing position. It becomes easy to stop the welding line and ensure parallelism between the welding line and the X-ray film, which has a remarkable effect on improving inspection work efficiency and X-ray film mounting accuracy.

[Brief explanation of the drawing]

Fig. 1 is a side view showing the configuration near the front end of an inspection trolley according to an embodiment of the present invention, Fig. 2 is an explanatory view showing the field of view of the surveillance camera, and Fig. 3 is an image taken by the surveillance camera on the monitor TV. Figure 4 is an explanatory diagram showing the field of view of the surveillance camera when the inspection trolley moves obliquely to the welding line, and Figure 5 is an image captured on a monitor TV in that case. A front view showing an example, FIG. 6 is a perspective view showing the configuration of the inspection system previously proposed by the present inventor, FIG. 7 is an explanatory view showing its usage, and FIG. FIG. 2 is a cross-sectional view of a penstock. 1... Inspection trolley 2... Monitor TV receiver 4... Operating device 6... Magnetic wheel 8...
X-ray film pack attachment part 9... Monitoring TV camera 11... X-ray generator 13... Mirror 14, welding line 15... Marking line 16... Guide needle diagram, diagram, diagram

Claims (2)

[Claims] (1) A guide groove in which an X-ray film pack for X-ray inspection of welded joints can be installed close to the outer surface of the steel structure, and a certain area on the surface of the steel structure located a predetermined distance ahead in the direction of movement of the trolley. A television camera is mounted on the vehicle body with the optical axis of the lens pointing diagonally downward to the front, so as to be able to influence the welded joint inspection. A steel structure having a trolley, a monitor television receiver that receives an image captured by the television camera, and an operating device that remotely controls the traveling of the inspection trolley while viewing the image captured on the monitor television receiver. In the inspection trolley of the welded joint inspection system, a mirror is provided in the range of the optical path that enters the lower half of the field of view of the television camera, and the trolley is located behind the mirror in the lower half of the field of view of the television camera with respect to the traveling direction of the trolley. An inspection trolley characterized in that the mounting position and angle of the mirror are set so that a certain range of the surface of the steel structure directly under the front end of the inspection trolley is reflected. (2) Two guide needles on the left and right are protruded downward from the vicinity of the front end of the X-ray film pack attachment part of the above-mentioned trolley so that their tips are close to the surface of the steel structure. 2. The guide needle according to claim 1, wherein at a predetermined stop position, the tip of the guide needle appears to be in contact with a marking line pre-marked on the surface of the steel structure on the monitor television screen. Inspection trolley.