JPH0574784B2 - - Google Patents

Description

[Detailed Description of the Invention] [Field of Application of the Invention] The present invention relates to an ultrasonic flaw detection device that scans an ultrasonic probe along the outer periphery of a pipe weld to detect flaws in the weld. The present invention relates to an automatic ultrasonic flaw detection device for a group of pipes, which is suitable for automatically performing flaw detection on individual pipes of a group of pipes arranged in parallel.

[Prior Art] FIGS. 10 and 11 are block diagrams of a probe drive device for detecting flaws in pipe welds, and are a front view and a side view, respectively, as viewed in the axial direction of the pipe. Piping 900
Welded part 90 welded when joining in the longitudinal direction
1, it is necessary to inspect the entire circumference. For this reason, the probe drive device 4 includes a half-moon-shaped gear 402 disposed around the outer circumference of the pipe 900, and a probe holder 401 that holds the ultrasonic probe 1 facing the outer circumferential surface of the pipe 900. The ultrasonic probe 1 is moved along the semicircular gear 402 so that the entire circumference of the pipe 900 can be inspected for flaws. A welding position detector 501 is attached to one end of the semicircular gear 402, and the probe drive device 4 is connected to the pipe 9.
When moved in the tube axis direction 806 of 00, the detector 501 detects the position of the welded portion 901. Note that 101 is a couplant supply pipe.

When inspecting piping using an ultrasonic flaw detection device equipped with such a probe driving device, conventionally, this probe driving device is manually attached to the piping 900. As a result, movement of the probe drive device in the tube axis direction, detection of the welded portion 901, and scanning of the entire circumference of the welded portion 901 of the ultrasonic probe 1 are automatically performed.

[Problems to be Solved by the Invention] For example, when inspecting piping that constitutes a nuclear reactor using the conventional ultrasonic flaw detector described above, since there are a large number of piping, it is necessary to manually inspect each piping one by one. Attaching the feeler drive device is a tedious task. In addition, when a large number of pipes are arranged closely together as a pipe group, it becomes difficult to manually attach the probe drive device to the pipe in the center. Furthermore,
When inspecting a group of pipes installed in a radiation-exposed area, if it takes time to attach the probe drive device, it will pose a health management problem for the inspector.

An object of the present invention is to provide an automatic ultrasonic flaw detection device for a pipe group that automatically inspects the welded portions of individual pipes in the pipe group without bothering an inspector.

[Means for Solving the Problems] The above purpose is to provide a probe drive device that scans an ultrasonic probe along the outer periphery of a tube to be inspected, and to detect flaws in the tube to be inspected using the ultrasonic probe. In an ultrasonic flaw detection device, a guide rail is installed orthogonally to each tube axis of a group of tubes to be inspected, which is made up of a large number of tubes to be inspected arranged in parallel, and the probe drive device is connected to the guide rail. a traveling movement mechanism for traveling along the
A first sensor that detects the position of each tube to be inspected in the group of tubes to be inspected when the probe driving device is caused to travel along the guide rail by the traveling mechanism; a sliding mechanism that slides the probe drive device moved to a position of the tube to be inspected in the tube axis direction of the tube to be inspected; a second welding position for detecting the welding position of the pipe to be inspected when the pipe is slid against the pipe;
The sensor, the traveling movement mechanism, and the sliding mechanism are controlled by the detection signals of the first sensor and the second sensor, and the probe driving device is positioned at the welded portion of each tube to be inspected in the group of tubes to be inspected. This is achieved by providing a control device that automatically moves the ultrasonic probe.

[Operation] The control device uses the travel mechanism to move the probe drive device along the guide rail in the direction in which the tubes to be inspected are lined up, and when the first sensor detects the position of the tubes to be inspected, the travel mechanism stop. Thereby, the ultrasonic probe of the probe drive device faces the outer circumferential surface of the tube to be inspected. Next, the control device moves the probe drive device in the tube axis direction using the sliding mechanism. When the second sensor detects the welding part during this movement,
Stop the sliding mechanism. This brings the ultrasonic probe to a position facing the welded portion of the tube to be inspected. Next, the control device controls the probe drive device to scan the ultrasonic probe over the entire circumference of the welded portion of the pipe to be inspected.

After flaw detection of one tube to be inspected is completed, the control device controls the travel mechanism to move the probe drive device to the next tube to be inspected, and performs the same flaw detection operation. In this way, each tube to be inspected in the group of tubes to be inspected is automatically inspected one after another.

[Example] Hereinafter, an example of the present invention will be described with reference to the drawings.

FIG. 2 is a conceptual diagram of a probe drive device of an automatic ultrasonic flaw detection device for pipe groups according to an embodiment of the present invention, as viewed from the axial direction of the pipes, when the probe drive device is attached to the pipe group; 2 is a plan view corresponding to the view seen from the direction of arrow A in FIG. 2. FIG. In this embodiment, a case where each of a large number of pipes 900 arranged laterally in parallel is automatically inspected using the ultrasonic probe 1 will be described as an example. Of course, it goes without saying that the present invention can also be applied to automatic inspection of groups of pipes arranged vertically and in parallel.

Two guide rails 605 perpendicular to the tube axis are passed through the pipe group, and one end of the guide rail 605 is attached to a pipe 900 at the end of the pipe group with a clamp 602 (see FIG. 2). FIG. 4 is an enlarged view of this clamp portion. guide rail 60
clamper 6 that attaches one end of 5 to piping 900;
02 includes an arcuate clamp claw 621. Extend the clamp claw 621 in the direction of the arrow and connect the pipe 900.
The clamper 602, that is, the guide rail 605 is attached to the pipe 900 by fixing the clamp claw 621 with a set screw 622 at a position where the outer periphery is gripped by the clamp claw 621.

The other end of the guide rail 605 shown in FIG. 2 is projected to the outside of the pipe group, and the tip of the folded portion is attached to the pipe 900 at the end of the pipe group by a clamper 603. FIG. 5 is an enlarged view of the clamper 603 (in FIG. 5, the pipe to which it is attached is designated by the reference numeral 910). The clamp 603 has a recess with the same diameter as the outer periphery of the pipe 910, and can be attached by fitting the recess into the pipe 910 (the clamp 603 has a structure in which it has a claw similar to that of the clamper 602). ). Therefore, when attaching the guide rail 605 to the pipe group, first fit the clamper 603 to the pipe 910 to attach one end of the guide rail 605 to the pipe group, and then use the clamper 602 to attach the other end of the guide rail 605 to the pipe group. The side will be attached to the pipe group.

As shown in FIG. 1, a slider 604 to which the ultrasonic probe driving device 4 is attached is attached to these two guide rails 605. FIG. 6 is a diagram showing a structure for attaching the slider 604 to the guide rail 605. The slider 604 is
The slider 604 is attached to the guide rail 605 so that the two guide rails 605 are inserted therethrough, and the slider 604 is movable along the longitudinal direction of the guide rail 605. A female screw 608 is fixed to the slider 604, and a feed screw 606 extending from one end of the guide rail 605 to the other is screwed into the female screw 608. Electric motor 6 attached to one end side of guide rail 605
01 is connected to this feed screw 606, and by rotating the feed screw 606, the slider 604 is moved forward and backward along the guide rail 605.

As shown in FIG. 1, the ultrasonic probe driving device 4 is attached to a slider 604 via a spacer 607. FIG. 7 is an enlarged view of the ultrasonic probe drive device 4 and its attachment mechanism. A tube detector 502 is attached to the substrate 805 of the spacer 607 that is integrally coupled to the slider 604 . The pipe detector 502 detects the pipe position when the slider 604 moves along the guide rail 605.

FIG. 8 is a configuration diagram of the tube detector 502. Tube detector 502 includes a spindle 522 . This spindle 522 is provided so as to be slidable in the vertical direction of FIG. 8 (the hatched part is the substrate 805) and in the direction perpendicular to the paper surface of FIG. A roller 521 is attached that rotates on parallel axes. An arm 523 is fixed in the middle of the spindle 522, and a potentiometer 525 is attached to the arm 523, which moves up and down together with the spindle 522.
A rod 524, which is a movable piece, is in contact with it. The output of the potentiometer 525 is sent to a control device to be described later.

In FIG. 7, the substrate 805 of the spacer 607
is provided with an air cylinder 701, and the piston rod of this air cylinder 701 is connected to the electric motor 70 in a direction perpendicular to the plane of the paper in FIG.
It is designed to move forward and backward by the action of a pump (not shown) driven by reference numeral 4. A base plate 809 is fixed to the tip of this piston rod via an arm 810 shown in FIG. Board 809
rollers 804 are rotatably attached to both ends of the board 805, and both rollers 804 are guided along both side edges of the board 805 in a direction perpendicular to the plane of the paper in FIG. is regulated.

Guide supports 801 and 802 are provided on both sides of the substrate 809 in parallel to the pipe axis of the pipe to be inspected, and a feed screw 803 is provided in parallel to these. The probe driving device 4 supported by the guide supports 801 and 802 is rotated by the electric motor 702 when the feed screw 803 inserted through the female screw is rotated by the guide supports 801 and 802.
2 in the longitudinal direction.

The probe drive device 4 has the same structure as that explained in FIGS. 10 and 11, and is slid in the tube axis direction 806 by the electric motor 702, and after the welding position detector 501 detects the welding position. , a holder 401 holding the ultrasonic probe 1 under the driving force of an electric motor 703
scans the entire circumference of the pipe.

FIG. 3 is a control system diagram of the ultrasonic flaw detection device. The control device 5 includes the welding position detector 50 described above.
1. Based on the detection signal of the tube position detector 502,
Each of the electric motors 6 of the traveling device 6 and the probe drive device 4
01, 702, 703, and 704 to scan the ultrasound probe 1. Data detected by the ultrasonic probe 1 is analyzed by the ultrasonic flaw detector 2 and recorded in the recording device 3.

Next, the operation of the ultrasonic flaw detection apparatus having the above-described configuration will be described.

A guide rail 605 is attached to the pipe group using clamps 602 and 603. The control device drives the electric motor 601 to move the slider 604 along the guide rail 605. As the slider 604 moves, the tube detector 502 attached to the substrate 805 also moves together with the slider 604. Spindle 522 shown in FIG.
When the tip reaches the piping 900 position, the roller 5
21 hits the outer peripheral surface of the pipe 900, the spindle 522 retracts and the output of the potentiometer 525 changes. The control device 5 controls the slider 604 based on the output signal of the potentiometer 525.
The electric motor 601 is stopped by determining the stop position of the electric motor 601.

Next, the control device 5 drives the electric motor 704 to operate the air cylinder 701. This results in
The probe driving device 4 is moved to the right in FIG.
The pipe 900 is fitted into the recess, and the ultrasonic probe 1 is brought to a position facing the outer peripheral surface of the pipe 900.

Next, the control device 5 drives the electric motor 702,
The probe drive device 4 is slid in the axial direction of the pipe 900. Along with this sliding, the welding position detector 5
01 moves together, and when the detector 5 hits the raised part of the welding part, this detection signal is sent to the control device 5. Upon receiving this detection signal, the control device 5 stops the electric motor 702 so that the ultrasonic probe 1 is in a position facing this welding part.

Next, the control device 5 drives the electric motor 703 to scan the entire outer circumference of the pipe 900 with the ultrasonic probe 1.

After the flaw detection of the welded part of one pipe 900 is completed, the control device 5 returns the air cylinder 701 to its original position and drives the electric motor 601 to move the slider 604 along the guide rail 605 to the next pipe position. , the above-described operations are repeated to detect flaws in the welded portion of the pipe. During this flaw detection operation, when it becomes necessary to replace the ultrasonic probe 1 or inspect other parts, the electric motor 601 is controlled to move the slider 604 to the guide rail as shown in FIG. 605
Move it to the protruding part on the outside of the piping group. This makes it possible to inspect the probe drive device 4 and the like without removing the guide rail 605 from the pipe group.

[Effects of the Invention] According to the present invention, piping in the center of a group of piping can also be automatically and safely inspected for flaws.

[Brief explanation of drawings]

Fig. 1 is a plan view of an ultrasonic flaw detection device for a group of pipes according to an embodiment of the present invention attached to a group of pipes, and Fig. 2 is a plan view of the ultrasonic flaw detector for a group of pipes shown in Fig. 1 attached to the pipe axis of the pipe. Fig. 3 is a control system diagram of the ultrasonic flaw detection system for pipe groups shown in Fig. 1, and Fig. 4
Figure 5 is an enlarged view of the clamp parts at both ends of the guide rail shown in Figure 2, Figure 6 is an enlarged view of the slider part shown in Figure 1, and Figure 7 is the probe drive shown in Figure 1. A diagram of the installation structure of the device, Figure 8 is a configuration diagram of the tube position detector, Figure 9 is an explanatory diagram of the guide rail,
FIG. 10 is a front view of the probe drive device, and FIG. 11 is a side view of the probe drive device. 1... Ultrasonic probe, 2... Ultrasonic flaw detector, 3
...Recording device, 4...Ultrasonic probe drive device, 5
...Control device, 6...Traveling device, 101...Couplant supply pipe, 401...Probe holder, 402...
...Semi-moon gear, 501...Welding position detector, 50
2...Pipe position detector, 521...Roller, 522
...Spindle, 523...Arm, 524...
Rod, 525... Potentiometer, 601,
702,703,704...Electric motor, 602,6
03... Clamper, 604... Slider, 605
... Guide rail, 606, 803 ... Feed screw, 607 ... Spacer, 608 ... Female screw, 6
21... Clamp claw, 622... Set screw, 70
1... Air cylinder, 801, 802... Guide support, 804... Roller, 805, 809...
... Substrate, 806 ... Tube axis direction, 810 ... Arm, 900, 910 ... Piping, 901 ... Welding part.

Claims (1)

[Scope of Claims] 1. An ultrasonic flaw detection device that includes a probe drive device that scans an ultrasonic probe along the outer periphery of a tube to be inspected, and performs flaw detection on the tube to be inspected using the ultrasonic probe. A guide rail is installed perpendicularly to the axis of each tube of a group of tubes to be inspected consisting of a large number of tubes to be inspected arranged in parallel, and the probe driving device is made to run along the guide rail. a traveling movement mechanism; a first sensor that detects the position of each tube to be inspected in the group of tubes to be inspected when the probe driving device is caused to travel along the guide rail by the traveling mechanism; a sliding mechanism that slides the probe driving device, which has been moved to a position of one of the tubes to be inspected, in the tube axis direction of the tube to be inspected; and a sliding mechanism that drives the probe by the sliding mechanism. a second sensor that detects the welding position of the pipe to be inspected when the device is slid in the pipe axis direction; and a second sensor that detects the welding position of the pipe to be inspected when the device is slid in the pipe axis direction; and a control device that automatically moves the ultrasonic probe of the probe drive device to the position of the welded part of each tube to be inspected in the group of tubes to be inspected. Ultrasonic flaw detection equipment. 2. The guide rail is configured such that at least one end thereof protrudes outside the group of pipes to be inspected, so that the traveling movement mechanism can travel to the outside of the group of tubes to be inspected. Automatic ultrasonic flaw detection equipment for pipe groups.