JPH05333010A - Method and apparatus for automatic ultrasonic flaw detection - Google Patents

Abstract

PURPOSE:To provide an automatic ultrasonic flaw detecting method, which can perform the flaw detection for a joint welding part completely automatically in high efficiency and in high accuracy, and to obtain an automatic ultrasonic flaw detecting apparatus, whose constitution is compact and handling is easy, and which can greatly contribute to improve the working efficiency of a large sample and the like. CONSTITUTION:A truck 1 is moved along a joint welding line, and an ultrasonic probe 20 is made to scan with a scanning mechanism 2, which is attached to the truck 1. Thus, the flaw in a joint-welded part 4 is detected. The truck 1 is intermittently moved from the initial edge part of a body under test 3 to the terminating edge part. Every time when the truck is stopped, the ultrasonic probe is made to scan with the scanning mechanism 2 in the running direction of the truck and the direction perpendicular to the running direction in the square pattern. Thus, the flaw detection is performed along the entire welded line.

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to an automatic ultrasonic flaw detection method and apparatus applied to weld defect inspection of joint welds,
Particularly, the present invention relates to an automatic ultrasonic flaw detection method and apparatus suitable for inspection of defects in a corner joint welded portion of a box column for building steel frames.

[0002]

2. Description of the Related Art Conventionally, when inspecting welding defects such as steel for buildings and steel for bridges, an ultrasonic probe is scanned along the surface of the specimen and welding is performed based on the defect length and echo height. Ultrasonic flaw detection technology for evaluating defects is known. Until now, in such ultrasonic flaw detection, it was often the case that the operator manually relied on scanning, but in addition to requiring a high degree of skill, the work efficiency declined markedly as the specimen became larger. Therefore, improvement of efficiency and improvement of inspection accuracy have been demanded.

Therefore, in recent years, an automatic ultrasonic flaw detection technique for automatically scanning an ultrasonic probe has been developed to increase the scanning speed,
Scanning is becoming more precise, but in the ultrasonic flaw detection technology developed so far, rails are laid above and to the side of the specimen, and the ultrasonic probe is driven by a carriage that runs on this rail. However, there are problems that the structure is large and the handling is troublesome, and the work efficiency cannot be sufficiently improved.

In addition, in a joint welded portion of a large member, for example, a corner welded portion of a box column, a diaphragm portion, which is a portion where a large load acts, is a full penetration welding, and other portions are a partial penetration welding. Depending on the location, the welding degree may differ. In such a case, it is often the case that the flaw detection of the partial penetration weld is omitted and only the complete penetration weld is detected.
However, in the conventional automatic flaw detection technique, there is a case where sufficient labor saving cannot be achieved because, for example, switching between flaw detection and non-flaw detection cannot be performed and manual work by an operator is required.

[0005]

The manual flaw detection is low in efficiency, requires skill, and often has difficulty in scanning accuracy of the inspection section. Moreover, the conventional automatic ultrasonic flaw detection technique requires a large scale of equipment. However, there are various problems such as that the automatic operation is insufficient and manual operation is required, and that good flaw detection accuracy may not always be obtained.

The present invention has been made in view of the above circumstances, and an object thereof is to provide an automatic ultrasonic flaw detection method capable of completely automatic flaw detection of a welded joint with high efficiency and high accuracy. The object is to provide an automatic ultrasonic flaw detector that is compact and easy to handle, and can greatly contribute to improving the work efficiency of large specimens and the like.

Another object of the present invention is to automatically select flaw detection / non-flaw detection for a joint weld having a completely penetrated portion and a partially penetrated portion and to efficiently perform flaw detection scanning, particularly for a building box. An object of the present invention is to provide an automatic ultrasonic flaw detection method and apparatus suitable for inspecting columns and the like.

[0008]

In the automatic ultrasonic flaw detection method according to the first aspect of the invention, the ultrasonic probe is moved by the scanning mechanism attached to the carriage while the carriage is running along the joint welding line. Scanning is performed to detect flaws in the welded joint, and the carriage is intermittently driven from the start end to the end of the specimen, and the ultrasonic probe is carried by the scanning mechanism every time the carriage is stopped. The method is characterized in that a square scan is performed in the direction and a direction orthogonal to this direction to perform full-line flaw detection of the welding line.

According to such a method, a detailed flaw detection range can be set by the scanning mechanism while setting the general flaw detection area division by the trolley, and the flaw detection of the joint welded portion can be automatically performed with high efficiency and high accuracy. You can do it with.

In the automatic ultrasonic flaw detection method according to the second aspect of the invention, while the carriage is running along the joint welding line, the ultrasonic probe is scanned by the scanning mechanism attached to the carriage to detect flaws in the joint weld. In the case where the joint welding portion has a complete penetration portion and a partial penetration portion, the carriage is intermittently driven at the complete penetration portion from the start end portion to the end portion of the specimen, Driving the vehicle to pass through at the partial penetration portion, and performing the rectangular scanning of the ultrasonic probe by the scanning mechanism in the traveling direction of the carriage and the direction orthogonal thereto every time the carriage stops during the intermittent driving at the complete penetration portion. Is characterized in that flaw detection is performed only on the completely penetrated portion.

According to the present invention, flaw detection / non-flaw detection can be automatically selected for a joint weld having a completely penetrated portion and a partially penetrated portion, and flaw detection can be efficiently scanned.

In this case, (1) switching between the intermittent drive at the full penetration portion and the passing traveling drive at the partial penetration portion of the truck based on preset information, and (2) the sensor provided on the truck While detecting the complete penetration part and the partial penetration part of the joint welding part, switching between intermittent drive at the complete penetration part of the bogie and passing drive at the partial penetration part based on the detection information. You can choose to do it.

The method (1) is suitable when preset information can be used, such as standard product inspection, and (2)
The method (1) is suitable for individual inspections corresponding to each site.

Further, in the case of (2), it is preferable to use an ultrasonic sensor or a magnetic sensor as a sensor for detecting the completely welded portion and the partially welded portion of the joint weld.

When an ultrasonic sensor is used, the complete penetration portion and the partial penetration portion can be directly discriminated by echo detection, and therefore the operation is extremely simple.

When a magnetic sensor is used, an indicator member made of a magnetic material is installed at the boundary between the completely-penetrated portion and the partially-penetrated portion of the specimen, and discrimination is made by the change of the magnetic field generated by the presence or absence of the indicating member. I do. In this method, the sensor can be discriminated in a state where it is not in contact with the sample, and therefore, it is suitable for inspection in a dust atmosphere, for example.

Further, the automatic ultrasonic flaw detector of the present invention includes a carriage that is detachably mounted on a joint-welded plate material and that runs along the welding line direction of the plate material, and that is attached to the carriage and is attached to the welding line. A scanning mechanism that is movable in the direction along and orthogonal to the scanning mechanism, a probe that is attached to the scanning mechanism and that performs ultrasonic flaw detection on the joint weld portion of the plate material, and ultrasonic flaw detection that is connected to the probe. Device, a carriage traveling control unit for intermittently driving the carriage at a traveling pitch corresponding to a scanning range along the welding line direction of the scanning mechanism, and a scanning mechanism control for performing a rectangular scan by the scanning mechanism while the carriage is stopped. And a section.

According to the present invention, the structure is compact and the handling is easy. And, it can be effectively used in the above-mentioned method, and can greatly contribute to the improvement of the work efficiency of a large specimen or the like.

In the present invention, the bogie traveling control unit has a switching means for causing the bogie to be intermittently driven at the completely welded portion of the joint welding portion and to be driven to pass through at the partially welded portion. Therefore, it can be used as a method for automatically selecting flaw detection or non-flaw detection.

Further, the carriage traveling control section stores the position information of the completely welded portion and the partially welded portion of the joint welding portion, and the truck with the completely welded portion on the basis of an output signal from the storage means. The method of (1) above can be dealt with by providing a switching means for intermittently driving at the same time and driving for passing traveling at the partially melted portion.

Further, the truck has a discriminating means for discriminating between the completely-penetrated portion and the partially-penetrated portion of the joint welding portion, and the bogie traveling control section discriminates the truck based on the output signal from the discriminating means. In addition to the method of (2), there is provided a switching means for intermittently driving the complete penetration portion and passing and driving the partial penetration portion. In this case, if the sensor is a magnetic sensor or an ultrasonic sensor. can do.

Furthermore, the joint welding portion is a corner welding portion in the box column, and the trolley is magnetically joined to the bottom of the box column on the upward flange surface of the box column in a detachable manner for traveling drive. The scanning mechanism is provided with a pair of upper and lower probes corresponding to the respective corner welds on a pair of vertical support arms respectively facing the lateral web surfaces of the box column. If all four corners of the box column can be inspected for scanning at the same time, all corner welds of the box column can be inspected at the same time, greatly improving the efficiency, and effective for corner welding of the box column. Can be used for any purpose.

[0023]

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

(1) First Embodiment (FIGS. 1 to 10) This embodiment is an automatic ultrasonic flaw detection method for full-line flaw detection in which the corner welded portion of a box column is flaw-detected over four lines simultaneously and over all lines. And an automatic ultrasonic flaw detector used therefor. First, the configuration of the automatic ultrasonic flaw detector will be described with reference to FIGS.

This automatic ultrasonic flaw detector is roughly divided into an operating mechanism section A for operating the ultrasonic probe and a control section B for controlling its operation and processing data.
As shown in FIGS. 1 and 2, the operating mechanism section A is composed of a carriage 1 that performs a general operation over the entire flaw detection range, and a scanning mechanism 2 that is attached to the carriage 1 and performs a flaw detection scan within a certain range. ..

The trolley 1 is detachably mounted on the flange 3a of the box pillar 3 which is the specimen, and automatically travels along the welding selection direction (x direction) of the corner welding portion 4. This trolley 1
The main carriage 1a and the auxiliary carriage 1b are divided into left and right parts, and the two carriages 1a and 1b are connected by a width adjusting mechanism 6 with an operation handle 5 to form a box pillar 3 of various sizes.
It can be installed according to the width of.

Both carriages 1a, 1b have a plurality of support wheels 7 on the peripheral side of the bottom and guide rollers 8 for restricting the plane position on the outer side opposite to each other, and on the box pillars 3 placed horizontally. The support wheels 7 are mounted on the surface of the flange 3a, which is a plate, and the guide rollers 8 are brought into contact with the webs 3b, which are both outer plates of the box column 3, so that they can move in the longitudinal direction of the box column 3.

The main carriage 1a is provided with a running magnet roller 9 at the center of the bottom thereof.
Is connected to a traveling motor 10 via a transmission mechanism 11 such as a gear device, and is magnetically joined to the box column 3 to be driven so as to be rotatable forward and backward. The magnet roller 9 can be moved up and down to the bottom of the main carriage 1a by the attachment / detachment handle mechanism 12. When the magnet roller 9 is raised, the magnetic joining with the box column 3 is canceled, and the main carriage 1a is removed. 1a
It can be attached to and detached from the box pillar 3.

The traveling motor 10 includes a traveling axis encoder 1
3 is connected, and thereby the mileage of the trolley is obtained.
Further, front and rear plate edge detection switches 14 and 15 including limit switches and the like for detecting both longitudinal end positions of the box column 3 when moving forward and backward are provided at the front and rear end positions of the main carriage 1a. The carriage 1 is provided with a marker 16 for marking a stop position, that is, a flaw detection position, so that the flaw detection position can be visually confirmed.

The scanning mechanisms 2 are arranged in pairs on the side portions corresponding to the guide rollers 8 of the carriage 1, that is, on the left and right sides. Each scanning mechanism 2 is supported by a guide shaft 17 on the side of the bogie 1 and moves in a certain range in the bogie traveling direction (x direction), and a slider 18 moves in a vertical direction (y direction) orthogonal to the bogie traveling direction. The support arm 19 is provided with the ultrasonic probe 20 attached to the support arm 19.

That is, the slider is engaged with the ball screw 22 driven by the X-axis motor 21 and can reciprocate in the x direction. The support arm 19 has, for example, a rack structure, is connected to a Y-axis motor 23 via a pinion 24, and can reciprocate in the y direction. In addition, 25 is an X-axis encoder for measuring the moving distance of the slider 18, 2
6 is a limit switch for setting the movement limit similarly, 27 is a Y-axis encoder for measuring the movement distance of the support arm 19,
28 is a stopper for setting the lower limit.

The ultrasonic probes 20 are provided on each of the support arms 19 corresponding to the corner welded portions 4 in pairs, one above and one below, in total. As shown in FIG. 4, each of the ultrasonic probes 20 has
It is supported by a so-called gimbal mechanism so as to be capable of three-dimensional movement.

That is, a mounting plate 29 is supported by the support arm 19, and a horizontal axis (Z axis) 30 is attached to the mounting plate 29.
The base 31 is movably supported in the direction (z direction) orthogonal to the web 1b via the spring 32.
Is urged by the direction of advance. A vertical axis (Y axis) 33 is provided on the base 31, a horizontal axis (X axis) 35 is provided on a frame 34 supported by the Y axis 33, and the ultrasonic probe 20 is provided on the X axis 35. Is rotatably supported.
Therefore, the ultrasonic probe 20 can be swung in the x, y, and z directions so that stable scanning and surface tracking can be performed with respect to undulations of the flaw detection surface.

Further, the ultrasonic probe 20 is provided with an automatic supply device 36 of the contact medium. That is, as shown in FIG. 4, attachment plates 37 are provided on both sides of the ultrasonic probe 20, and a flow path 38 and a nozzle 39 are formed in each attachment plate 37. A hose 41 led out from the medium pump 40 shown in FIG. 1 is connected to the flow path 38, and the contact medium is automatically supplied to the flaw detection surface. The ultrasonic probe 20 is set so as to secure a gap of, for example, about 0.2 to 0.5 mm from the flaw detection surface, and the contact medium automatically intrudes into the gap from the nozzle 39 at the tip of the ultrasonic probe 20. Is applied to the flaw detection surface. Reference numeral 42a is a signal line of the ultrasonic probe 20 and is connected to the control unit B as a part of the signal cable 42.

FIGS. 5 and 6 exemplify the echo detection state by the ultrasonic probe 20 and the shape of the scanning line of the ultrasonic probe 20 by the scanning mechanism 2.

That is, in the present embodiment, as shown in FIG. 5, the ultrasonic wave is sent out from the oblique-angle flaw detection vibrator 20a of the ultrasonic probe 20 to the corner welding portion 4 as the transmission wave S1, and the ultrasonic wave is detected. While the probe 20 is square-scanned along the scanning line a having the predetermined scanning pitch p shown in FIG. 6, the reflected wave S2 from the welding defect G or the like is detected, and the ultrasonic flaw detector 43 detects the echo height and the defect. The length and the like are obtained, and the pass / fail of welding is determined.

FIG. 7 shows a circuit configuration of the control device section B. The control device section B includes a carriage traveling control section 51 that controls traveling of the carriage 1, a scanning mechanism control section 52 that controls the scanning mechanism 2, and a management section 5 that manages information between these control sections.
3 and 3 as a basic configuration.

The trolley traveling control unit 51 controls the start / stop and rotation direction of the traveling motor 10 of the trolley 1 to position the trolley 1 at the starting end position, intermittent traveling distance and stop time, and from the end position. Is used to control the return operation of the vehicle 1 and outputs the traveling control signal of the trolley 1 based on the setting signal from the setter 54 and the detection signals from the traveling axis encoder 13, the front and rear plate edge detection switches 14, 15 and the like. To do.

The scanning mechanism control unit 52 controls the X,
By controlling the start and stop of the Y-axis motors 21 and 23 and the rotation direction, the rough flaw detection by the ultrasonic probe 20
The position control of square scanning for precision flaw detection is performed by the setting device 5.
On the basis of the setting signal from 5 and the detection signals from the X-axis encoder 25, the limit switches 26 and 27, the Y-axis encoder 27, etc., a movement control signal of the support arm 19 in the x and y directions is output.

The output signals of the carriage traveling control unit 51 and the scanning mechanism control unit 52 are input to the management unit 53 together with the output signal from the ultrasonic flaw detector 43 that performs echo detection and the like, and the recording unit 44, the printer 45, etc. Output element.

In the present embodiment, the carriage traveling control section 51.
Allows the carriage 1 to have a constant traveling pitch P (for example, 300 mm)
The scanning mechanism control unit 52 sets the scanning mechanism 2 within the same operating range (300 mm) as the traveling pitch P of the carriage 1 for each stop position of the carriage 1, which is set to perform an intermittent drive in which the carriage 1 starts and stops. Is the predetermined operation pitch (for example, 1 to 10 mm)
Is set to perform a square scan.

In this embodiment, other control elements not shown include a traveling (start, interruption, end) switch, a truck traveling speed adjusting knob, a traveling direction scanning lever, a truck traveling distance digital display (mm) alarm lamp, and the like. Be prepared.

Next, a flaw detection method using the ultrasonic flaw detector will be described with reference to FIGS.

8 and 9 show the carriage 1 and the scanning mechanism 2.
The setting example of is shown. That is, the length L as a test specimen
A box pillar 3 (for example, 10 to 16 m, 1060 mm in the present embodiment and each of the following embodiments) is applied, the flange surface 3a is oriented horizontally, and the carriage 1 is mounted thereon. Then, from one end (start end) 3A of the box pillar 3 to the other end (end) 3B, the truck 1 is intermittently driven at a constant traveling pitch P (300 mm), and at each stop position of the truck 1, Same range as the driving pitch P (300mm)
Then, the scanning mechanism 2 is set to perform scanning for flaw detection of each corner weld portion 4. That is, as shown in FIG.
And the scanning of the scanning mechanism 2 are alternately and continuously performed, whereby the whole line flaw detection is performed.

FIG. 10 is a flow chart showing the ultrasonic flaw detection procedure.

First, the carriage 1 is attached to the flange 3 of the box pillar 3.
a In addition to mounting on the upper surface at an arbitrary position near the starting end 3A,
The ultrasonic probe 20 is made to correspond to each corner weld 4 and the web 3
b The slider 18 of the scanning mechanism 2 is placed on the outer surface and set near the origin position (retracted position) to start.

After the start, the trolley traveling control unit 51 causes the trolley 1 to retreat once, and the starting end (origin) 3 of the box pillar 3 is moved.
It is positioned at A and stops (101). In this state,
The scanning mechanism 2 is activated, the ultrasonic probe 20 starts to move forward,
The first scan is started (102).

During the scanning, the flaw detection information is taken into the ultrasonic flaw detector 43 to perform necessary display, recording, etc., and the scanning mechanism control unit 52 determines whether or not the scanning is performed for 300 m (103). .. When the 300 m scanning of the operating mechanism 2 is completed (YES), the first flaw detection is completed, the slider 18 of the scanning mechanism 2 is moved to the origin (retracted), and the carriage traveling control unit 51 causes the carriage 1 to move for the second time. It starts moving forward to the flaw detection position (104).

While the trolley 1 is moving forward, the trolley traveling control unit 51 determines whether or not the trolley 1 has moved 300 m (10
5) If YES, the truck 1 stops (106). Then, by the scanning mechanism 2 returning to the origin position, the second
The second scan is started (102), and the same operation as the first scan is performed. After that, the same scanning is performed on the box pillar 3
Is repeated toward the terminal end portion 3B.

When the carriage 1 advances to the vicinity of the end 3B of the box column 3 and reaches the end 3B of the box column 3 before moving 300 mm, the judgment (107) of the plate edge detection of the box column 3 is YE.
S, the carriage 1 moves backward to the origin (starting end) 3A (1
08), the end.

The inspection results are sequentially recorded in the recording means 44 and can be printed out by the printer 45 as needed.

According to the automatic ultrasonic flaw detection method and apparatus of the present embodiment, all four corner welded portions 4 of the box column 3 can be flaw-detected at the same time, so that flaw detection work which is extremely difficult due to the large-sized member can be performed. , It will be possible to perform with considerably higher efficiency than before. Further, by adopting a function division method in which the carriage 1 performs a general traveling operation and the scanning mechanism 2 performs detailed flaw detection scanning, the flaw detection operation is simplified, the speed is increased, the operation reliability is improved, and the flaw detection accuracy is improved. Can be achieved.

Particularly, according to the ultrasonic flaw detector of this embodiment,
Since the trolley 1 and the scanning mechanism 2 are compactly united and the handling is improved, the magnet roller 9 can be easily attached to and detached from the upper surface of the flange 3a of the box column 3, and stable traveling can be performed. The preparatory operation and the post-operation can be speeded up as compared with the conventional device.

(2) Second Embodiment (FIGS. 11 to 15) In this embodiment, of the square welded portions of the box column, only the completely penetrated portion is flaw-detected, and particularly the determination of the completely penetrated portion is made. Is performed based on preset information.

First, referring to FIGS. 11 and 12, the penetration state and area of the corner welded portion will be described. As shown in these figures, a diaphragm 60 is welded to the box pillar 3 at a position corresponding to a hierarchy (for example, three positions), and a region (panel zone Z ( Z1, Z2, Z3)) is a completely penetrated portion (hereinafter referred to as a full penetration portion) 4a, and the remaining region N is a partially penetrated portion (hereinafter referred to as a partial portion) 4b.

In this embodiment, in the corner welded portion 4 of the box column 3, only the area of the full penetration portion 4a, that is, the panel zones Z1, Z2 and Z3 is inspected, and the area N of the partial portion 4b is not inspected. This point is different from the first embodiment. It should be noted that the point that flaws are simultaneously detected on four lines is the same as in the first embodiment.

FIG. 13 shows the operation timing of the carriage 1 and the scanning mechanism 2. As shown in FIGS. 11 to 13,
In this embodiment, the bogie 1 is intermittently driven in the panel zones Z1, Z2, Z3 from the starting end 3A of the box pillar 3 toward the terminal end 3B, and is driven to pass in the remaining area N, so that the bogie 1 is driven in the panel zones Z1, Z2. , Z3 while being intermittently driven, the scanning mechanism 2 causes the ultrasonic probe 20 to perform a rectangular scan in the traveling direction of the carriage and in a direction orthogonal thereto each time the carriage stops.

Since the operating mechanism A of the automatic ultrasonic flaw detector used is the same as that of the first embodiment, the carriage 1 and the scanning mechanism of the automatic ultrasonic flaw detector shown in FIGS. The configuration and the like of 2 are referred to as they are, and the description thereof is omitted.

As for the control unit B, as shown in FIG. 14, the trolley traveling control unit 51 controls the panel zone Z1,
A storage unit 56 that stores the position information of Z2, Z3 and the remaining area N, and the truck 1 is intermittently driven in the panel zones Z1, Z2, Z3 based on the output signal from the storage unit 56, and the other area N And a switching unit 57 for driving the vehicle to pass through. Then, at the time of flaw detection, based on the position information set in the storage unit 56 in advance,
The carriage 1 is switched between intermittent driving and passing traveling driving. Since the other points are the same as those in the first embodiment, the corresponding portions in FIG. 14 will be assigned the same reference numerals as those in FIG. 7 and the description thereof will be omitted.

FIG. 15 is a flow chart showing the ultrasonic flaw detection procedure.

Also in this embodiment, first, the carriage 1 is mounted on the upper surface of the flange 3a of the box pillar 3 at an arbitrary position near the starting end 3A, and the scanning mechanism 2 is set to the origin position (retracted position) and started.

After the start, the bogie 1 is moved backward by the bogie traveling control unit 51, and the starting end (origin) 3A of the box pillar 3 is temporarily returned.
(201). Next, based on the positional information set in the storage means 56, the carriage 1 moves to the input start position of the first panel zone Z1 and stops (20).
2). Here, the start position means the first panel zone Z1.
This is the position where the carriage 1 has moved forward 300 mm from the starting end (the left end in FIG. 11). This corresponds to the scanning range of the scanning mechanism 2 being 300 mm, and it is necessary to move the carriage 1 in advance by the scanning range for flaw detection.

At this position, the scanning mechanism 2 is activated, the ultrasonic probe 20 begins to move forward, and the first scanning starts (203). During scanning, the scanning mechanism control unit 52 determines whether the scanning has reached the end position of the first panel zone Z1 (204), and if NO, it is determined whether the scanning mechanism 2 has scanned 300 m ( 205).

When the scanning mechanism 2 is stopped after the scanning of 300 m is completed (YES), the trolley traveling control unit 51 causes the trolley 1 to move 30 times.
Move forward 0 mm and stop (206). Note that the scanning mechanism 2 moves (retracts) to the origin during this process.

After the carriage 1 has moved forward 300 mm and stopped, the scanning mechanism 2 is activated again (203), the second scanning in the first panel zone Z1 is started, and the same operation as described above is performed ( 203-205).

When the second scanning is completed (205, Y
ES), similarly, the third operation is performed, and then the fourth scan (the final scan in the first panel zone Z1) is performed. In this case, the length of the first panel zone Z1 is, for example,
If it is 1060 mm, the remaining length of the first panel zone Z1 is 1060− (300
X3) = 160mm, and the fourth scan ends at 160mm. Therefore, the storage unit 56 stores in advance information that the fourth scanning should end at 160 mm, and the scanning range of the scanning mechanism 2 ends at 160 mm.

That is, at this time, if the determination (205) as to whether or not the scanning is performed by 300 mm is NO, the first panel zone Z
The determination (204) as to whether or not the end position of No. 1 has been inspected is YES, so next, the panel zones Z1, Z2, Z
A determination is made as to whether all 3 have been examined (20
7).

Here, since the inspection is completed only for the first panel zone Z1, the judgment (207) is NO, and the trolley 1 is moved to the start position of the second panel zone Z2 by the step 202 and stopped as described above. (202), the first scan in the second panel zone Z2 starts (203). The first and second panel zones Z1 and Z2
In the area N between the two, the bogie 1 passes and travels without flaw detection.

The same scanning as described above is performed in the second panel zone Z2, and when this scanning is completed, the inspection of the third panel zone (final zone) Z3 is subsequently performed. And
When all the inspections are completed by scanning the third panel zone Z3, the determination in step 207 is YES, the carriage 1 moves (retracts) to the origin (starting end position 3A) (208), and ends.

According to this embodiment, the same effect as that of the first embodiment can be obtained, but the corner welded portion 4 of the box column 3 having the full penetration portion 4a and the partial portion 4b can be obtained.
For, it is possible to automatically select flaw detection / non-flaw detection based on preset information, and to perform flaw detection scanning efficiently.
In particular, it is suitable when preset information can be used, such as standard product inspection.

Table 1 shows the comparison results of the required time for the automatic ultrasonic flaw detection according to the present embodiment and the conventional hand flaw detection. The work is performed by one person, and the defect rate (defect length / defect detection distance × 100) is 5%.

As shown in the table, (1) for instrument calibration, the present embodiment requires 4-line simultaneous flaw detection (4 channels), data setting (computer setting) is required, and so on. Takes longer than But,
Regarding the time required for (2) preparatory work and (3) flaw detection, this embodiment is shorter than manual flaw detection. In addition,
(2) Despite the large number of work steps in the preparatory work,
The reason why this embodiment is shorter than the manual flaw detection is that the manual flaw detection requires the maintenance of the flaw detection surface in advance over the entire flaw detection range, whereas in the case of the present embodiment, only the flaw detection surface at the initial part of the automatic scanning is prepared at the preparation stage. This is because the other parts may be repaired sequentially in the subsequent flaw detection process. Then the same table (4)
As shown in (1), according to this example, it was confirmed that the inspection time of the four box pillars can be shortened to about 1/3 as compared with the case of manual flaw detection.

[0073]

[Table 1]

(3) Third Embodiment (FIGS. 16 to 18) This embodiment also detects flaws only in the full-pene portion. While detecting the full penetration portion and the partial portion, the intermittent driving in the full penetration portion of the truck and the passing traveling driving in the partial portion are switched based on the detection information.

That is, in the automatic ultrasonic flaw detector of the present embodiment, as shown in FIG. 16, an ultrasonic sensor 71 is provided at the tip of the carriage 1, and this ultrasonic sensor 71 is one corner welding of the box column 3. A vertical oscillator is arranged on the portion 4.

When the truck 1 is running on the full penetration portion 4a, the ultrasonic wave emitted from the ultrasonic sensor 71 is diffused and echo detection is not performed, whereas the partial portion 4 is used.
In b, ultrasonic waves are reflected at the joint surface between the flange 3a, which is the non-welded portion, and the web and 3b, and echo detection is performed.
This is a full-penal / partial discriminant. Since the other structure of the operating mechanism section A is substantially the same as that of each of the above-described embodiments, the respective drawings are referred to as they are, and the description thereof is omitted.

Further, as shown in FIG. 17, the control mechanism section B
In the above, an evaluation unit 72 that evaluates the detection signal from the ultrasonic sensor 71 is provided, and the evaluation result is input from the output unit 73 to the carriage traveling control unit 51. Since the other structures of the control mechanism unit B are substantially the same as those of the above-described embodiments, the respective drawings will be referred to as they are and the description thereof will be omitted. Further, FIG. 11 is similarly referred to for the penetration state and region of the corner welded portion 4.

FIG. 18 is a flowchart showing the ultrasonic flaw detection procedure.

Also in this embodiment, first, the carriage 1 is mounted on the upper surface of the flange 3a of the box pillar 3 at an arbitrary position near the starting end 3A, and the scanning mechanism 2 is set to the origin position (retracted position) and started.

After the start, the trolley traveling control unit 51 retracts the trolley 1 and once the starting end (origin) 3A of the box pillar 3
(300), and the carriage 1 starts to move forward from here (301). Then, as the trolley 1 moves forward, the trolley 1
Is the end 3 of the box pillar 3 by the plate end detection switch 15.
It is determined whether B is detected (302), and if NO, it is determined whether the ultrasonic sensor 71 detects the full penetration part 4a (303).

The dolly 1 has the first full penetration portion 4a (see FIG. 11).
(Corresponding to the first panel zone Z1 shown in), the judgment (303) of full-pene part detection is YES,
The stop position of the carriage 1 is set in the carriage traveling control unit 51 (304). Here, the stop position of the carriage 1 is a position where the carriage 1 has advanced by 300 mm from the position where the ultrasonic sensor 71 first detected the full penetration portion 4a. This corresponds to the scanning range of the scanning mechanism 2 being 300 mm, and it is necessary to move the carriage 1 in advance by the scanning range for flaw detection.

Therefore, the trolley 1 then stops at a position 300 mm forward from the first full-pene section 4a detection position, but before the stop, it is judged whether or not the partial section 4b is detected (305). Here, since the full penetration portion 4a has just been detected and the partial portion 4b has not been detected even if the full penetration portion 4a has been moved by 300 mm, the determination in step 305 is NO. Then, it is determined whether the carriage 1 has moved to the stop position (30
When 6) becomes YES, the trolley 1 stops (30
7).

After the carriage 1 is stopped, scanning is started (3
08). At the scanning start stage, it is judged whether or not the partial start position is stored, which will be described later (309). Here, it is NO, and the scanning mechanism 2 scans the ultrasonic probe 20. When the scanning of 300 mm is completed (310, YES), the scanning mechanism 2 is stopped (3
11), the scanning mechanism 2 moves to the origin (312), and the carriage traveling control unit 51 sets the carriage stop position to a position 300 mm forward from the current position (313), and the carriage 1 moves forward (314), The second scan is performed in the same manner as described above (305 to 314), and then the third scan is performed in the same manner.

When the third scanning is completed, the fourth scanning (final scanning) is started. In this case, the length of the first full penetrating portion 4a is the same as in the second embodiment. Ten
If it is 60 mm, the remaining length of the first full-pene part 4a area is 1060 due to three 300 mm scans.
-(300 × 3) = 160mm, and the fourth scan ends at 160mm. That is, during the fourth scanning, the partial portion 4b is detected when the carriage 1 moves forward by 160 mm, so that the determination in step 305 described above is YE.
S is reached, and the partial start position is stored in the storage unit 56 (315).

Then, after the carriage 1 moves forward by 300 mm, it stops (307), and after the scanning mechanism 2 starts scanning (308), the judgment in step 309 becomes YES, and the scanning judgment up to the partial start position (316). ), The scanning is stopped when the result is YES (317), and the scanning in the first full penetrating section 4a is completed.

Therefore, after this, the scanning mechanism 2 moves to the origin (318), and then the scanning mechanism control section 52 makes the first movement.
The position memory for the second full-penne unit scan is cleared (31
9), the second full penetrating portion 3b (the second full penetrating portion shown in FIG. 11).
After moving to flaw detection of the second panel zone Z2), the same operation as described above is performed (301 to 319).

When the flaw detection of the second full pene section is completed,
Further, the third (final) full-penetration portion 3b (corresponding to the third panel zone Z3 shown in FIG. 11) is inspected, and when this is completed, the truck 1 goes through the step 302 and the trolley 1 starts at the start end of the box pillar 3. It returns to 3A (320) and becomes the end.

According to the present embodiment, while the ultrasonic sensor 71 provided on the truck 1 detects the full penetration portion 4a and the partial portion 4b of the corner welding portion 3, the full penetration portion 4a of the transportation vehicle 1 is detected based on the detection information. Intermittent drive and passing drive in the partial section 4b are automatically switched,
The flaw detection of only the full penetration portion 4a is efficiently performed.

Particularly in the present embodiment, since it is not necessary to store the information of the specimen in advance, it is effective in the case of individually inspecting each site, and the ultrasonic sensor 71 is also used. Since the full pene partial can be directly discriminated by the echo detection using, the operation is extremely simple.

(4) Fourth Embodiment (FIGS. 19 to 22) In this embodiment as well, the sensor provided on the truck detects the full penne part and the partial portion of the joint welding portion, and the truck is based on the detected information. The intermittent drive in the full penetration section and the passing traveling drive in the partial section are switched to detect flaws only in the completely penetrated section.

However, the point different from the third embodiment is that a magnetic sensor is used as a sensor for detecting the full penetration portion and the partial portion of the welded joint.

That is, in the automatic ultrasonic flaw detector of this embodiment, as shown in FIG. 19, the magnetic sensor 8 is attached to the tip of the carriage 1.
1 is provided. Further, as shown in FIG. 20, the flange surface 3a of the box column 3 is located at the boundary portion between the full penetration portion 4a and the partial portion 4b of the corner welded portion 4 and is made of a magnetic material such as a steel plate. Is installed.

Each time the carriage 1 passes the indicating member 80, the magnetic detection value of the magnetic sensor 81 is changed to the indicating member 80.
Since it depends on the change in the generated magnetic field depending on the presence or absence of the above, the start position and the end position of the full penetration portion 4a are detected by the indicating member 80, and this is used as the corner welding portion full penetration partial determination element. Since the other structure of the operating mechanism section A is substantially the same as that of each of the above-described embodiments, the respective drawings are referred to as they are, and the description thereof is omitted.

As shown in FIG. 21, the control mechanism section B
In the above, an evaluation unit 82 that evaluates the detection signal from the magnetic sensor 81 is provided, and the evaluation result is input from the output unit 83 to the carriage traveling control unit 51. In addition,
Other structures of the control mechanism unit B are substantially the same as those of the above-described embodiments, and therefore, the respective drawings are referred to as they are and the description thereof is omitted.

FIG. 22 is a flow chart showing the ultrasonic flaw detection procedure.

Also in this embodiment, first, the carriage 1 is mounted on the upper surface of the flange 3a of the box pillar 3 at an arbitrary position near the starting end 3A, and the scanning mechanism 2 is set to the origin position (retracted position) and started.

After the start, the trolley traveling control unit 51 moves the trolley 1 backwards and once the starting end (origin) 3A of the box column 3 is moved.
(400), and the carriage 1 starts to move forward from here (401). Then, as the trolley 1 moves forward, the trolley 1
Is the end 3 of the box pillar 3 by the plate end detection switch 15.
It is determined whether B is detected (402), and if NO, it is determined whether the magnetic sensor 81 has detected the start position of the full penetration unit 4a (403).

The dolly 1 has the first full penetration 4a (4a
When the instruction member 80 (80a) of 1) is reached, the determination (403) of the full-pene part start position detection becomes YES, and the carriage travel control unit 51 sets the stop position of the carriage 1 (404). Here, the stop position of the carriage 1 means the first indicating member 80 of the full-pene part 4a1 by the magnetic sensor 81.
This is the position where the carriage 1 has moved forward 300 mm from the position where a was detected. This corresponds to the scanning range of the scanning mechanism 2 being 300 mm, and it is necessary to move the carriage 1 in advance by the scanning range for flaw detection.

Therefore, the trolley 1 then stops at a position 300 mm forward from the initial start position of the full penetration part, but before the stop, it is judged once whether the end position of the full penetration part is detected (405). This is the first operation, and only the full-pene part start position is detected, so the determination in step 405 is NO. Then, when the determination (406) as to whether the carriage 1 has moved to the stop position is YES, the carriage 1 stops (407).

After the carriage 1 is stopped, scanning is started (4
08). At the scanning start stage, it is judged whether the full penetrating end position is stored, which will be described later (409). Here, it is NO, and the scanning mechanism 2 scans the ultrasonic probe 20. When the scanning of 300 mm is completed (410, YES), the scanning mechanism 2 is stopped (4
11), the scanning mechanism 2 moves to the origin (412), the carriage stop position is set to a position 300 mm forward from the current position in the carriage travel control unit 51 (413), and the carriage 1 moves forward (414), The second scan is performed in the same manner as above (405 to 414), and then the third scan is performed in the same manner.

When the third scanning is completed, the fourth (final) scanning is started. In this case, the length of the area of the first full penetrating portion 4a1 is the same as in the third embodiment. Is 1060 mm, the remaining length of the area of the first full-pene part 4a1 is 1060− (300 × 3) = 160 mm because the scanning of 300 mm is performed three times, and the fourth scanning is
It will end at 160mm. That is, at the time of the fourth scanning, the indicating member 80b at the end position of the first full penetrating portion 4a1 is detected when the carriage 1 moves forward by 160 mm, so that the determination at step 405 described above is YES. The end position of the first full penetration unit 4a1 is stored in the storage unit 56 (415).

Then, after the carriage 1 moves forward by 300 mm and then stops (407), and the scanning mechanism 2 starts scanning (408), the determination in step 409 becomes YES, and the scanning determination up to the full penetrating end position ( 416), the result is YES, the scanning mechanism 2 stops at the stored scanning position of 160 mm (417), and the first full penetrating portion 4a
The scan at 1 ends.

Then, thereafter, the scanning mechanism 2 moves to the origin (418), and then the traveling mechanism control unit 52 makes the first movement.
The scanning position memory of the second full-pene part 4a1 is cleared (419), and the flaw detection of the second full-pene part 4a2 is started, and the same operation as described above is performed (401 to 419).

When the flaw detection of the second full-pene portion 4a2 is completed, the flaw detection of the third (final) full-pene portion 4a3 is further performed, and when this is completed, the carriage 1 returns to the starting end portion 3A of the box pillar 3 ( 420), the end.

According to this embodiment, the magnetic sensor 81 provided on the truck 1 detects the start position and the end position of the full penetration portion 4a of the corner welding portion 3, and the full penetration portion 4a of the truck 1 is detected based on the detected information. The intermittent drive and the passing drive at the partial portion 4b are automatically switched,
The flaw detection of only the full penetration portion 4a is efficiently performed.

Particularly, in this embodiment, it is not necessary to store the information of the specimen in advance, so that it is effective in the case of individually inspecting corresponding to each site, and the use of the magnetic sensor. The full-penal / partial discrimination can be performed by the sensor, and the sensor can be discriminated in a non-contact state with the sample. Therefore, for example, an inspection in a dust atmosphere can be effectively performed.

In the above second to fourth embodiments, the scanning by the scanning mechanism 2 is carried out only at the necessary positions between the start position and the end position of the full penetration portion 4a,
It is controlled so as not to perform unnecessary scanning in the partial portion or the like. Therefore, the scanning efficiency is extremely high, and also in this respect, the flaw detection time can be effectively shortened.

Further, in each of the above embodiments, the present invention is applied to the inspection of the corner joint welding 4 of the box column 3, but the present invention is not limited to this, and can be appropriately applied to the inspection of various joint welding. is there.

Further, in each of the above-mentioned embodiments, for the sake of clarity, the method and the device for dividing the full-line flaw detection and the full-pene flaw detection into the respective functions are explained separately, but both the full-line flaw detection and the full-pen flaw detection are provided. Of course, it is possible to apply or modify the present invention appropriately by using the device configuration and selectively using these functions as necessary.

[0110]

As described above, according to the automatic ultrasonic flaw detection method of the present invention, flaw detection of a joint weld can be performed automatically and with high efficiency and accuracy, and a complete penetration portion and partial penetration It is possible to efficiently select a flaw detection / non-flaw detection for a joint weld portion having a section and efficiently perform a flaw detection scan, which is particularly suitable for an inspection of a building box column or the like.

Further, according to the automatic ultrasonic flaw detector according to the present invention, the structure is compact, the handling is easy, and excellent effects such as being able to greatly contribute to the improvement of the working efficiency of a large specimen and the like are exhibited. ..

[Brief description of drawings]

FIG. 1 is an overall configuration diagram showing an embodiment of an automatic ultrasonic flaw detector according to the present invention.

FIG. 2 is an enlarged view of a main part of FIG.

FIG. 3 is a view showing a carriage of the automatic ultrasonic flaw detector.

FIG. 4 is a diagram showing an ultrasonic probe of the automatic ultrasonic flaw detector.

FIG. 5 is an explanatory diagram showing an operation of a probe of the automatic ultrasonic flaw detector.

FIG. 6 is a diagram showing scanning lines in the automatic ultrasonic flaw detector.

FIG. 7 is a circuit diagram showing a control mechanism section in the automatic ultrasonic flaw detector.

FIG. 8 is a view showing a box column used in the first embodiment of the automatic ultrasonic flaw detection method according to the present invention.

FIG. 9 is a time chart showing the operation of the same embodiment.

FIG. 10 is a flowchart showing a procedure of the same embodiment.

FIG. 11 is a view showing a box column used in the second embodiment of the automatic ultrasonic flaw detection method according to the present invention.

FIG. 12 is a partially enlarged view of FIG. 11.

FIG. 13 is a time chart showing the operation of the same embodiment.

FIG. 14 is a circuit diagram showing a control mechanism section of the automatic ultrasonic flaw detector used in the embodiment.

FIG. 15 is a flowchart showing the procedure of the same embodiment.

FIG. 16 is a view showing a carriage of an automatic ultrasonic flaw detector used in a third embodiment of the automatic ultrasonic flaw detection method according to the present invention.

FIG. 17 is a circuit diagram showing a control mechanism section of the automatic ultrasonic flaw detector used in the embodiment.

FIG. 18 is a flowchart showing the procedure of the same embodiment.

FIG. 19 is a diagram showing a carriage of an automatic ultrasonic flaw detector used in a fourth embodiment of the automatic ultrasonic flaw detection method according to the present invention.

FIG. 20 is a view showing a box pillar used in the embodiment.

FIG. 21 is a circuit diagram showing a control mechanism section of the automatic ultrasonic flaw detector used in the example.

FIG. 22 is a flowchart showing the procedure of the same embodiment.

[Explanation of symbols]

 1 Cart 2 Scanning mechanism 3 Box column (sample) 4 Corner weld (joint weld) 4a Full penetration (full penetration) 4b Partial penetration (partial) 20 Ultrasonic probe 43 Ultrasonic flaw detector 51 Vehicle traveling control unit 52 Scanning mechanism control unit 54 Storage unit 71 Ultrasonic sensor 81 Magnetic sensor 80 Instructing member

Claims (11)

[Claims] 1. An automatic ultrasonic flaw detection method for performing flaw detection on a joint weld by scanning an ultrasonic probe with a scanning mechanism attached to the carriage while the carriage is running along a joint welding line, The carriage is intermittently driven from the start end to the end of the specimen, and each time the carriage is stopped, the scanning mechanism causes the ultrasonic probe to perform a square scan in the carriage traveling direction and in a direction orthogonal to the traveling direction of the welding line. An automatic ultrasonic flaw detection method characterized by performing full-line flaw detection. 2. An automatic ultrasonic flaw detection method for performing flaw detection on a joint weld by scanning an ultrasonic probe with a scanning mechanism attached to the carriage while the carriage is running along the joint welding line, When the joint welding part has a completely penetrating part and a partially penetrating part, the cart is intermittently driven at the completely penetrating part and passing through at the partially penetrating part from the starting end to the ending part of the specimen. During the intermittent driving at the complete penetration portion, the scanning mechanism causes the ultrasonic probe to perform a square scan in the traveling direction of the carriage and in a direction orthogonal to this, so that only the complete penetration portion is obtained. An automatic ultrasonic flaw detection method, which is characterized by performing flaw detection. 3. The automatic control system according to claim 2, wherein intermittent driving at a completely penetrating portion of the truck and passing driving at a partially penetrating portion of the truck are switched based on preset information. Sonic flaw detection. 4. The method according to claim 2, wherein a sensor provided on the truck detects the completely welded portion and the partially welded portion of the joint weld, and based on the detection information, the completely welded portion of the truck. The automatic ultrasonic flaw detection method is characterized in that the intermittent drive and the running drive at the partial penetration portion are switched. 5. The automatic ultrasonic flaw detection method according to claim 4, wherein an ultrasonic sensor or a magnetic sensor is used as a sensor for detecting the complete penetration portion and the partial penetration portion of the joint weld. Law. 6. A dolly detachably mounted on a joint-welded plate material and traveling along the welding line direction of the plate material, and a dolly mounted on the dolly and moving in a direction along the welding line and in a direction orthogonal to the welding line. A possible scanning mechanism, a probe attached to the scanning mechanism for ultrasonic flaw detection of the joint welding part of the plate material, an ultrasonic flaw detector connected to the probe, and a welding line direction of the scanning mechanism And a scanning mechanism control unit for intermittently driving the carriage at a traveling pitch corresponding to a scanning range along the scanning range, and a scanning mechanism control unit for performing a rectangular scan by the scanning mechanism while the carriage is stopped. Automatic ultrasonic flaw detector. 7. The apparatus according to claim 6, wherein the bogie traveling control unit has a switching means for causing the bogie to be intermittently driven at the completely welded portion of the joint welding portion and to be driven to pass through at the partially welded portion. An automatic ultrasonic flaw detector characterized in that 8. The apparatus according to claim 6, wherein the trolley traveling control section is based on a storage means for storing position information of the complete penetration portion and the partial penetration portion of the joint weld, and an output signal from the storage means. Automatic ultrasonic flaw detector, which has a switching means for intermittently driving the bogie at the completely penetrating portion and driving it to pass through at the partially penetrating portion. 9. The apparatus according to claim 6, wherein the trolley has a discriminating means for discriminating between a completely-penetrated portion and a partially-penetrated portion of the welded joint, and the trolley traveling control section outputs from the discriminating means. An automatic ultrasonic flaw detector, comprising switching means for intermittently driving the trolley at a completely penetrating portion and passing and driving at a partial penetrating portion based on a signal. 10. The automatic ultrasonic flaw detector according to claim 9, wherein the trolley discriminating means is a magnetic sensor or an ultrasonic sensor. 11. The apparatus according to claim 6, wherein the joint welding portion is a corner welding portion of the box column, and the dolly is attached to the bottom portion of the box column so as to be detachable from the upwardly facing flange surface of the box column. The scanning mechanism is configured to have a magnet roller for driving to be joined, and the scanning mechanism has a pair of vertical support arms facing the two lateral web surfaces of the box column, and a pair of upper and lower corresponding to each corner welding portion. The automatic ultrasonic flaw detector is characterized in that it is capable of performing flaw detection scanning for all four lines at once by providing the probe.