JPH0622907U - Manipulator for pipe wall thickness inspection - Google Patents

Abstract

(57) [Summary] (Correction) [Purpose] Easily inspect the wall thickness of worn parts due to ash cutting of pipes that have a narrow space between pipes and are located deep. During inspection, the contact medium can be supplied remotely between the tube and the ultrasound probe. [Structure] The support rod 1 having a substantially T shape is configured to be expandable and contractible. An arc-shaped guide groove 6D is provided on the lower end side of the support rod 1.
There is provided a flat casing 6 having The casing 6 is provided with a pipe clamp device including a fixed holding portion and a movable holding portion 13. The movable holding portion 13 is opened by the clamp operating lever 18. A probe carrier is provided in the casing 6, and an ultrasonic probe 37 is mounted on the casing 6. The probe carrier is reciprocated within a fixed angle range by the carrier operating lever 35. The grease supply device 40 including the grease discharge pump 41, the grease discharge pipe 42, and the grease supply pipe 43 remotely supplies the grease between the ultrasonic probe 37 and the pipe to apply the grease.

Description

[Detailed description of the device]

[0001]

[Industrial applications]

 The present invention relates to a pipe wall thickness inspection manipulator for inspecting the wall thickness of pipes such as a superheater, a reheater, and a economizer that constitute a steam can unit in a thermal power generation facility.

[0002]

[Prior art]

 Generally, in pulverized coal fuel boilers, etc., when the fuel gas exceeds a certain speed, ash content causes ash cutting on the contact heat transfer tubes and the like. In particular, this ash cutting occurs remarkably in the piping of the horizontal type superheater, reheater, etc., which is arranged in the rear heat transfer section of the fuel boiler, and pipe wear over time is inevitable.

Therefore, it is necessary to periodically inspect the pipe for wear, and conventionally, the inspection is performed by a tentacle, a wall thickness measuring device, or a wall thickness measuring robot.

[0004]

[Problems to be solved by the device]

 By the way, depending on the boiler etc., there may not be enough allowance between the tubes, and there may be cases where the tube rows are disturbed due to bending, external pressure, etc., and the tube spacing may be further reduced due to deposits such as protectors on the tubes. It is getting narrower. Therefore, the inspection by the tentacles and the wall thickness measuring device is limited to 3 to 4 steps from the top to the bottom of the pipes A, A, ... As shown in FIG. Therefore, in order to perform the inspection below this, it is necessary to hang up the collective panel of the pipes A, A, ... With a winch or the like, which requires a large amount of inspection work and costs. A period is needed.

Further, although it is necessary to interpose a lubricating oil as a contact medium between the ultrasonic probe and the pipe to be inspected, a means for supplying the lubricating oil to a general-purpose ultrasonic wall thickness measuring device. Is not provided. For this reason, it is necessary to pull up the measuring instrument and apply the lubricating oil to the ultrasonic probe for each inspection, which requires inspection time and labor, and has a drawback of poor work efficiency.

Further, since the wall thickness measuring robot is a large-sized device, it cannot be used when the tube interval is, for example, 25 mm or less, and when it is carried into the boiler, it must be divided. However, there is a drawback that portability is not considered.

The present invention has been made in order to solve the above-mentioned drawbacks of the prior art, and has been made in view of the fact that the ash cutting occurs in the range of 20 to 70 degrees from the center of the pipe with respect to the gas inflow direction. It is an object of the present invention to provide a lightweight, small-sized pipe wall thickness manipulator capable of easily inspecting pipes in a deep space or a place with a narrow pipe interval, and capable of supplying a catalyst contact body at any time.

[0008]

[Means for Solving the Problems]

 Means for Solving the Problems The present invention, which is configured to solve the above-mentioned problems, includes a long support rod, a vertically elongated opening fixed to the lower end of the support rod, and an arcuate carrier guide on one side. A flat casing having respective portions, and a pipe clamp device which is located on the opening side of the casing and is provided in the casing, and in which the other side gripping part facing the one side gripping part is detachable A clamp operating device that has an operating portion provided on the upper end side of the support rod, and that opens and closes a pair of gripping parts of the pipe clamp device, and one side gripping part and the other side gripping part of the pipe clamping device. A probe carrier that is located in the casing and located in the casing, is movable in the circumferential direction by being guided by the carrier guide portion, and an operation portion that is provided on the upper end side of the supporting rod. A carrier operating device for reciprocating the probe carrier, An ultrasonic probe which is mounted on the probe carrier in a state in which the tip side thereof is slightly projected outward from the opening, and which reciprocates with an arc trace by operating the carrier operating device; The contact medium arranged along the support rod is connected to the contact medium supply pump connected to one end side of the supply pipe and the other end side of the contact medium supply pipe, and the tip end is located near the tip of the ultrasonic probe. And a contact medium supply device having a contact medium discharge nozzle positioned and attached to the casing.

[0009]

[Operation] The support rod is lowered from between the pipes, and when the position of the pipe to be inspected is reached, the operating portion of the clamp operating device is operated to clamp the pipe to be inspected between the pair of clamping portions. Next, the contact medium supply pump is operated to supply the contact catalyst from the contact medium discharge nozzle between the ultrasonic probe and the pipe to be inspected. After that, the operation part of the carrier operating device is operated, the ultrasonic probe is moved along the outer peripheral surface of the pipe to be inspected, and the wall thickness of a predetermined portion of the pipe to be inspected is measured.

[0010]

【Example】

 Hereinafter, the present embodiment will be described in detail with reference to the drawings. In the figure, reference numeral 1 denotes a support rod which is configured to be capable of expanding and contracting in the axial direction. The support rod 1 has a grip bar 2 formed of a hollow bar body, and an upper end side fixed to a middle position in the longitudinal direction of the grip bar 2 so as to form a substantially T-shape. .. is formed, and a hollow lower tube body 4 that is slidably inserted in the upper tube body 3 in the axial direction. The tube body 3 and the lower tube body 4 can be adjusted to desired lengths by fastening a fixing screw (not shown).

Reference numeral 5 denotes a casing mounting member fixed to a lower end side of the lower tube body 4, and 6 is a lower end side of the supporting rod 1 mounted along the axis of the supporting rod 1 via the casing mounting member 5. Figure 4 shows a flat square casing worn. The casing 6 has a pair of cover members 7 and 8 having a substantially U-shaped cross section, and abuts on the upper side to form a square tube portion 6A, and the lower side to form a mechanism housing portion 6B. Further, by forming concave curved cutouts 7A, 8A on one side surface of the pair of cover materials 7, 8, the casing 6 has a vertically long opening 6C, and the cover materials 7, 8 have the cutouts. It has a pair of curved guide grooves 6D, 6D formed along 7A, 8A.

Reference numeral 9 denotes a pipe clamp device provided in the casing 6. The pipe clamp device 9 includes a fixed holding portion 10 detachably attached to the one-side cover member 7 with a concave curved one side holding surface 10A protruding from the opening 6C, and the fixed holding portion 10. Located on the lower side of the cover member 8 and rotatably attached between the cover members 8 via the support shaft 11, and the tip end side of the rotary support member 12 in a state of protruding from the opening 6C. Is detachably attached to the movable holding portion 13 in a state where the other side holding surface 13A of the concave curve faces the one side holding surface 10A, and a spring screwed to the lower end of the one side cover material 7. A force adjusting screw 14, and a holding spring 15 that is stretched in the middle of the spring force adjusting screw 14 and the rotating support piece 12 and constantly urges the rotating holding portion 13 toward the fixed holding portion 10. The other side holding surface 13A has a sealing sheet made of an elastic material such as rubber. Wood 16 are stuck.

On the other hand, 17 indicates a clamp operating device for operating the pipe clamping device 9. Reference numeral 18 denotes a clamp operating lever which constitutes the clamp operating device 17, and the clamp operating lever 18 is rotatably attached to a mounting bracket 19 attached to one side of the grip bar 2 in the axial direction. Reference numeral 20 denotes an interlocking rod whose lower end side is connected to the base end side of the rotary support piece 12 via a connecting pin 21, and a substantially L-shaped stopper piece 22 is attached to the upper end side of the interlocking rod 20. The stopper piece 22 abuts on a stopper member 23 provided in the square tube portion 6A of the casing 6 to regulate the displacement amount of the interlocking rod 20, that is, the rotation amount of the movable holding portion 13, and to interlock the rod 20. Also, the stopper piece 22 is prevented from rising.

Further, reference numeral 24 denotes a flexible tube disposed from the outer side to the inner side of the support rod 1 through the cable insertion hole 3A, and the tube body 24A of the flexible tube 24 has a mounting bracket for the clamp operating lever 18 at both ends. 19 and the lower end of the lower tube body 4 are respectively fixed, and both ends of the wire 24B inserted into the tube body 24A are connected to the clamp operating lever 18 and the stopper piece 22, respectively.

Thus, the clamp operating device 17 of the present embodiment operates the interlocking rod 20 via the clamp operating lever 18, the connecting rod 20, the stopper piece 22 that abuts the stopper member 23, and the stopper piece 22. And a flexible tube 24.

Next, reference numeral 25 denotes a probe carrier for mounting an ultrasonic probe 37 described later, and the probe carrier 25 rolls in the guide grooves 6D, 6D of the casing 6. It consists of a carrier body 26 having a pair of rollers 26A, 26A, 26B, 26B, and a cylinder body having an opening on one side in the axial direction and a step portion 27A and a through hole 27B on the other side. A fixed holder 27 attached to the main body 26 and a hollow cylindrical portion 29A on one side, and a sliding rod 29B inserted into the through hole 27B on the other side, are slidable in the fixed holder 27. A movable holder 29 inserted as much as possible, a buffer spring 30 made up of a compression spring interposed between the movable holder 29 and the fixed holder 27, and a fixed holder 27 positioned outside the other side. Threaded onto the shaft end of the sliding rod 29B. And a lock nut 31 that has been removed.

Next, reference numeral 32 denotes a carrier operating device for reciprocating the probe carrier 25 in the circumferential direction along the pair of guide grooves 6D, 6D. The carrier operating device 32 is stretched between the carrier body 26 and the casing 6, and a carrier drive spring 33 that constantly biases the probe carrier 25 to one side in the circumferential direction of the guide grooves 6D, 6D. Is mounted on the mounting bracket 34 attached to the other side of the holding rod 2 in the axial direction, and the probe carrier 25 is moved in the circumferential direction of the guide grooves 6D, 6D against the spring force of the carrier driving spring 33. And a carrier operating lever 35 for shifting to the side. The flexible tube 36 inserted into the support rod 1 through the tube insertion hole 3A is fixed at both ends of the tube main body 36A to the mounting bracket 34 of the carrier operating lever 34 and the lower end inside the lower tube body 4, respectively. Both ends of the wire 36B inserted through the tube body 36A are stretched between the carrier operating lever 35 and the probe carrier 25.

Further, 37 denotes an ultrasonic probe, and the ultrasonic probe 37 is attached to the movable holder 29 of the probe carrier 25. The tip side 37A of the ultrasonic probe 37 is in a state of slightly projecting outward from the opening 6C of the casing 6, and the tip surface 37B extends horizontally from the top of the tube to be inspected 20 to 70 degrees. It reciprocates to draw an arc in the range. The ultrasonic probe 37 is electrically connected to an ultrasonic thickness gauge 39 via a probe cord 38 inserted from the support rod 1 into the casing 6.

Reference numeral 40 denotes a supply device for supplying oil, grease or the like (hereinafter referred to as grease) as a catalytic body between the tip surface 37 B of the ultrasonic probe 37 and the outer peripheral surface of the tube B to be inspected. The grease supply device 40 includes a grease discharge pump 41 having a manual lever 41A, and a grease discharge nozzle fixed in the casing 6 in a state in which the tip portion 42A is brought close to the tip side 37A of the ultrasonic probe 37. 42, and a flexible grease supply pipe 43 which is inserted from the middle position into the upper pipe body 3 and is connected between the grease discharge pump 41 and the grease discharge nozzle 42.

The apparatus of this embodiment is constructed as described above, and its operation will be described below. First, the length of the support rod 1 is adjusted and fixed according to the position of the pipe B to be inspected, and then the support rod 1 is inserted into the gap between the pipes A from above as shown in FIG. When the position of the pipe to be inspected B is reached, the clamp operating lever 18 is pulled to separate the movable holding portion 13 from the fixed holding portion 10, and the pipe is inflated to the diameter of the pipe to be inspected B or more. As shown in, the support rod 1 is rotated 90 degrees in the lateral direction.

After that, the clamp operating lever 18 is loosened, the movable holding portion 13 is returned by the spring force of the holding spring 15, and the pipe B to be inspected is held by the fixed holding portion 10 and the movable holding portion 13. . Since the contact sheet material 16 is attached to the holding surface 13A of the movable holding portion 13, the movable holding portion 13 can be surely held along the outer peripheral surface of the tube B to be inspected.

At this time, the ultrasonic probe 37 whose tip surface 37 B is in contact with the outer peripheral surface of the pipe B to be inspected is retracted by the compression of the impact spring 30 and is in close contact with the pipe B to be inspected. You can

After the support rod 1 is connected to the pipe to be inspected B as described above, the manual lever 41A of the grease discharge pump 41 is pulled to apply grease from the tip portion 42A of the grease discharge nozzle 42 to the outer peripheral surface of the pipe to be inspected B. Apply.

Thereafter, a switch (not shown) of the ultrasonic thickness gauge 39 is turned on, and the carrier operating lever 35 is pulled to resist the spring force of the carrier driving spring 33 to move the probe carrier 25 into the guide grooves 6D and 6D. Drive along. The probe carrier 25 is guided by the pair of guide grooves 6D and moves so as to draw an arc, and the ultrasonic probe 37 moves in the range C of 70 to 20 degrees with respect to the vertical center line of the tube B to be inspected. Then, slide on the outer peripheral surface of the pipe to be inspected B and measure the wall thickness of the pipe to be inspected B.

When the measurement of the wall thickness within the predetermined range is completed, the carrier operating lever 35 is released and the probe carrier 25 is returned to the initial position by the spring force of the carrier drive spring 33. Then, the clamp operation lever 18 is pulled again to expand the movable holding portion 13 to release the held state of the tube B to be inspected, thereby completing the inspection work for one inspection site. Hereinafter, the inspection is repeated according to the above procedure.

According to the present embodiment described in detail above, since the support rod 1 is configured to be expandable and contractable, it is possible to easily inspect the deep-layer pipe A, which was impossible with the conventional methods and devices. Moreover, since the pipe B to be inspected is clamped by the spring force of the clamping spring 15, the operator does not need to support the support rod 1 during the wall thickness measurement, so that the inspection work can be performed easily. You can Further, since the movable holding portion 13 is configured to be attachable to and detachable from the rotary support piece 12 so that the holding surface 13A can be replaced with a plurality of types of movable holding portions 13 having different radii of curvature, it is possible to inspect a pipe A having a different diameter. Can also respond.

Furthermore, since the ultrasonic probe 37 is mounted on the probe carrier 25 so as to be able to move forward and backward, the tip surface 37A can be kept in close contact with the pipe A having a different curvature on the outer peripheral surface. , Accurate wall thickness can be measured.

In this embodiment, the ultrasonic thickness gauge 39 and the grease discharge pump 41 are arranged without being attached to the support rod 1, but they may be attached to the support rod 2 of the support rod 1 or the like. It may be configured.

[0029]

[Effect of device]

 Since the present invention is configured as described above in detail, it has the following effects. Since the flat casing is provided on the tip side of the long support rod, it is possible to easily perform the wall thickness inspection of the pipe located in the deep portion even though the pipe interval is narrow. Since the ultrasonic probe is configured to be movable within a predetermined range along the curvature of the tube to be inspected, it is possible to reliably inspect the wall thickness of the portion where abrasion is likely to occur. Since the pipe clamp device is configured to be remotely operated by the clamp operating device, it has excellent workability and can be operated by one operator. Since the contact medium supply device that remotely supplies the contact medium between the ultrasonic probe and the pipe is provided, it is possible to successively measure the wall thickness with the contact medium inserted in the deep layer, greatly improving the work efficiency. Can be improved. Since the entire device is lightweight and small, it has excellent portability and operability, and even a single worker can easily perform inspection work.

[Brief description of drawings]

FIG. 1 is a front view of a pipe wall thickness inspection manipulator according to an embodiment of the present invention.

FIG. 2 is an overall configuration diagram of a pipe wall thickness inspection manipulator.

FIG. 3 is an enlarged view of a main part of a pipe wall thickness inspecting manipulator with a probe carrier removed.

FIG. 4 is an enlarged sectional view taken along the line IV-IV in FIG.

FIG. 5 is a side view of a carrier body that constitutes the probe carrier.

FIG. 6 is a side view showing a fixed holder that constitutes a probe carrier and a movable holder into which an ultrasonic probe is inserted and partially broken away.

FIG. 7 is a rear view of the probe carrier.

FIG. 8 is a plan view showing a method of using the pipe wall thickness inspection manipulator.

FIG. 9 is a side view showing a method of using the pipe wall thickness inspection manipulator.

FIG. 10 is an explanatory diagram showing a pipe wall thickness inspection method according to a conventional technique.

[Explanation of symbols]

 DESCRIPTION OF SYMBOLS 1 Support rod 6 Casing 6C Opening 6D Guide groove 9 Pipe clamping device 10 One side gripping part 13 Other side gripping part 17 Clamp operating device 19 Clamp operating lever 25 Probe carrier 32 Carrier operating device 35 Carrier operating lever 37 Ultrasonic probe Tactile 40 grease supply device 41 grease supply pump 42 grease discharge nozzle 43 grease supply pipe

Claims (1)

[Scope of utility model registration request] 1. A long support rod, a flat casing fixed to the lower end of the support rod, having a vertically long opening on one side and an arcuate carrier guide on the inside, and the casing. A pipe clamp device located on the opening side of the casing, in which the other side gripping part facing the one side gripping part is separable, and an operating part provided on the upper end side of the support rod. Having a clamp operating device for expanding and operating a pair of gripping parts of the pipe clamping device, and being provided in the casing located between one side gripping part and the other side gripping part of the pipe clamping device, A probe carrier which is guided by the carrier guide part and is displaceable in the circumferential direction, and a carrier operating device which has an operating part provided on the upper end side of the support rod and which reciprocates the probe carrier. A state in which the tip side is slightly projected outward from the opening And an ultrasonic probe mounted on the probe carrier and reciprocating along an arcuate locus by operating the carrier operating device, and one end of a contact medium supply pipe arranged along the support rod. And a contact medium supply nozzle connected to the other end of the contact medium supply pipe, the contact medium discharge nozzle attached to the casing with the tip positioned near the tip of the ultrasonic probe. A pipe wall thickness inspection manipulator comprising a contact medium supply device.