JPH06294783A - Flaw detector - Google Patents

Abstract

PURPOSE:To move a probe back and forth in the direction intersecting the running direction of a main body perpendicularly by a simple mechanism and also to enlarge a detectable range. CONSTITUTION:A main body 12 is provided with a drive motor 13 for rotating a crank member 24. One end part of a connecting link 25 is joined to the crank member 24. The other end part of the connecting link 25 is joined to a first slider 26 being slidable in the direction intersecting the running direction of the main body 12 perpendicularly. A second slider 32 being slidable in the direction intersecting the first slider 26 perpendicularly is provided. One end part of each of connecting links 33 is joined to the first slider 26 and the middle part thereof to the second slider 32. A third slider 35 being slidable in the same direction as the second slider 32 is provided. One end part of each of swing links 36 in a pair disposed in parallel is joined to the third slider 35, the middle part thereof to the other end part of the connecting link 33 and the other end part thereof to a probe 15.

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a flaw detector for detecting a defect in a reactor pressure vessel or the like.

[0002]

2. Description of the Related Art Conventionally, a flaw detector 1 as shown in FIG. 5 has been used to detect a defect in a reactor pressure vessel or the like. The flaw detection device 1 is provided with a main body 2 that can travel forward (in the direction of arrow C in the figure) around the outer circumference of a reactor pressure vessel or the like by a traveling means, and slidable in a direction orthogonal to the traveling direction of the main body 2. It is composed of an arm part 3 and a probe 4 provided on the arm part 3 so as to be movable in the length direction thereof, and ultrasonic waves are transmitted from the probe 4,
The echo detects the defect in the container. Then, at this time, the arm 3 is slid in a direction orthogonal to the traveling direction of the main body 2, and the probe 4 itself is also moved with respect to the arm 3, whereby the length of the arm 3 and its sliding It is possible to perform flaw detection with a width dimension corresponding to the distance.

[0003]

By the way, since a reactor pressure vessel or the like is provided with a plurality of protrusions such as nozzles on its outer peripheral surface, the reactor pressure vessel is caused to travel in the vicinity of these protrusions or between the protrusions. In this case, it is preferable that the flaw detection device 1 has a width dimension as small as possible. However, in the conventional flaw detection apparatus 1 described above, no matter how small the width dimension of the main body 2 is, the width dimension of the apparatus 1 is determined by the total length of the arm portion 3, and thus there is a limit to the reduction of the width dimension. was there. Therefore, there is a problem that the device 1 cannot run or the range in which flaw detection is possible is limited near the protrusions or between the protrusions. The flaw detection device 1 includes a mechanism for sliding the arm 3 with respect to the main body 2 and a mechanism for sliding the probe 4 with respect to the arm 3, that is, two independent mechanisms. Since it has a complicated structure in which two drive sources for respectively driving these mechanisms are provided, there is a limit to miniaturization of the main body 2 itself. Here, if the arm provided with the probe at the tip is made to project to the front side of the main body and the structure is made to swing, it is possible to run the main body while avoiding the projecting portion of the container. In such a structure, the probe moves along a locus that draws an arc, and it becomes impossible to accurately detect the flaw detection position.

The present invention has been made in view of the above circumstances, and the probe can be translated in a direction orthogonal to the traveling direction of the main body with a simple structure, and the range in which flaw detection can be performed is expanded. It is an object of the present invention to provide a flaw detection device that can be used.

[0005]

The flaw detection device of the present invention comprises:
In a flaw detector mounted on a wall surface of a reactor pressure vessel or the like and detecting defects on the wall surface by a probe, a main body capable of traveling around the outer periphery of the vessel, a drive motor provided in the main body, and the drive A moving mechanism for moving the probe in a direction orthogonal to the traveling direction of the main body by a rotational force of a motor, wherein the moving mechanism includes a crank member rotated by the drive motor and a crank member A connecting link whose one end is rotatably connected, and the other end of the connecting link being rotatably connected, and slidable in a direction orthogonal to the traveling direction of the main body at the side of the drive motor. A first slider provided, a second slider provided on the rear side of the main body with respect to the first slider so as to be slidable in a direction orthogonal to the first slider, and one end portion The first slider A connecting link that is rotatably connected and has an intermediate portion rotatably connected to the second slider, and slides in the same direction as the second slider on the rear side of the main body with respect to the second slider. A third slider movably provided, and one end of which is rotatably connected to the third slider at a parallel position orthogonal to the traveling direction of the main body,
The other ends are rotatably connected to the probe and are arranged in parallel, and the other end of the connecting link is rotatably connected to at least one of the intermediate parts at the same length. It is characterized in that it is composed of a pair of rocking links formed in.

[0006]

According to the flaw detection apparatus of the present invention, when the drive motor is driven, the crank member is rotated, and this rotation is transmitted to the first slider by the connecting link, and the first slider moves in the traveling direction of the main body. It is slid in the direction orthogonal to. Then, by sliding the first slider, the second slider is slid in the direction orthogonal to the sliding direction of the first slider via the connecting link, and the other end of the connecting link is moved. Move on an elliptical orbit. This allows
The middle part of the rocking link, to which the other end of this linking link is connected, is moved on an elliptical orbit, and the third slider is slid in the same direction as the second slider, so that The probe having the other end connected thereto is moved in a direction orthogonal to the traveling direction of the main body.

[0007]

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS An embodiment of the flaw detector of the present invention will be described below with reference to FIGS. In the figure, reference numeral 11 is a flaw detection device. The flaw detection device 11 includes a main body 12, a drive motor 13 provided on the main body 12, and a probe 15 provided on the main body 12 via a moving mechanism 14.

The main body 12 is provided with guide rollers 16, 16 on the back side thereof.
The pole track 18 installed along the welding joint on the outer peripheral side of the reactor pressure vessel A and the like by 6 and 16 is movably supported with the probe 15 in contact with the outer surface of the vessel A. It is like this. Further, the main body 12 is provided with a pinion 17 which is partially exposed to the outside. The pinion 17 is meshed with a rack (not shown) provided on the pole track 18 to rotate the pinion 17. As a result, the main body 12 becomes the pole track 18
1 and 2 along the direction of arrow a.

Next, the structure and structure of the moving mechanism 14 will be described. The moving mechanism 14 includes a reciprocating slider crank mechanism portion 21, a fixed both slider mechanism portion 22, and a parallel link mechanism portion 23. The moving mechanism 14 configured by these components causes the probe 15 to 1 The middle arrow B moves in parallel.

The reciprocating slider crank mechanism portion 21 has a crank member 24 fixed to a rotary shaft of a drive motor 13 provided in the vicinity of a corner portion on the front side of the main body 12 in the traveling direction, and one end of the crank member 24 at a tip portion thereof. The connecting link 25 has its portion rotatably connected, and the other end of the connecting link 25 has a first slider 26 rotatably connected thereto (see FIGS. 3 and 4). First slider 26
Is provided slidably in a groove 27 formed in a direction orthogonal to the traveling direction of the main body 12. The drive motor 13 rotates the crank member 24, and the rotation is converted into a linear motion by the connecting link 25. It is transmitted and slides in the groove 27.

The fixed slider mechanism portion 22 is provided with a second slider 32 slidably provided in a groove portion 31 formed from the central portion of the groove portion 27 toward the rear side of the main body 12, and the second slider 32. One slider 27 has one end rotatably connected to both ends of the slider 27, and the second slider 32 has an intermediate part rotatably connected to both ends of the second slider 32. It consists of and. When the first slider 27 reciprocates in the groove 27, the intermediate portion of the connecting links 33, 33, that is, the connecting portion with the second slider 32 is reciprocally moved in the front-back direction of the main body 12. The connection links 33, 33 are rotated at this connection point. As a result, the other ends of the connecting links 33, 33 move on the elliptical orbit D shown by the alternate long and short dash line in FIG.

Further, the parallel link mechanism portion 23 is provided with the second
And a third slider 35 slidably provided in grooves 34 formed in the front-rear direction of the main body 12 on the rear side of the main body 12 with respect to the slider 32.
Is composed of a pair of rocking links 36, 36 each having one end rotatably connected in a parallel position orthogonal to the traveling direction of the main body 12 and having the same length. 36 are arranged in parallel and the other end is rotatably connected to the probe 15. In addition, the connecting link 33,
The other end part of the elliptical orbit D of 33 is rotatably connected, and when the other end of the connecting links 33, 33 moves on the elliptical orbit D, the intermediate parts of the swing links 36, 36 are also moved. It moves on an elliptical orbit D.

Next, the flaw detector 1 constructed as described above.
The operation of No. 1 will be described. By rotating the pinion 17, the flaw detection device 11 is caused to travel along the pole track 18 in the forward direction of the main body 12 (direction of arrow A in FIGS. 1 and 2). Then, ultrasonic waves are transmitted from the probe 15 of the flaw detection device 11, the echo is detected, and based on the detection data, the presence or absence of a defect in the container A and if there is a defect, the defect is detected. Accurate position is required.

When electric current is supplied to the drive motor 13, the rotation shaft of the drive motor 13 is rotated, the crank member 24 is rotated along with this rotation, and the rotation of the crank member 24 is rotated by the connecting link 25. After being transmitted to the first slider 26, the first slider 26 is slid in the groove 27 in a direction orthogonal to the traveling direction of the main body 12 in a direction indicated by an arrow B in FIG.

When the first slider 26 is slid, the pair of connecting links 33, 33 connected to the first slider 26 are rotated around the connecting point with the second slider 32. Be moved. At this time, the second slider 32 slides in the groove 31 in a direction orthogonal to the sliding direction of the first slider 26. That is, since the distance between the connecting portion of the connecting links 33, 33 to the first slider 26 and the connecting portion of the connecting links 33, 33 to the second slider 32 is unchanged, the first slider 26 slides. When moved, the second slider 32, the movement direction of which is restricted by the groove portion 31, is connected to the main body 12 by the connecting links 33, 33.
The second slider 3 receives the force in the front-back direction of
2 is slid in the front-back direction of the main body 12.

As a result, the connecting point between the other ends of the connecting links 33, 33 and the intermediate parts of the swing links 36, 36 moves on the elliptical orbit D. Further, since one end of each of the swing links 36, 36 is connected to the third slider 35 slidably provided in the front-rear direction of the main body 12, the swing links 36, 36 are connected to each other. The third slider 35 is slid in the front-rear direction of the main body 12 as the connecting portion with the swing links 36, 36 moves on the elliptical orbit D. The probe 15 connected to the other ends of the swing links 36, 36, one end of which is respectively connected to the third slider 35, is translated in a direction orthogonal to the traveling direction of the main body 12. The Rukoto.

As described above, according to the flaw detector 11 of the above-described embodiment, by driving the drive motor 13, the probe 15 can be moved in a direction orthogonal to the traveling direction of the main body 12. Therefore, the reactor pressure vessel A is widely used.
It is possible to perform flaw detection such as the above, and since the probe 15 is moved by one driving source, the structure can be simplified and the device can be downsized. Further, according to this flaw detection device 11, when the main body 12 is moved, the moving mechanism 14 causes the probe 15 to be arranged at the front side front position of the main body 12, whereby the main body 1
It is possible to eliminate the lateral protrusion of 2 and, as compared with the conventional device, in which the arm portion 3 for moving the probe 4 protrudes in the lateral direction of the main body 2, the range in which flaw detection is possible Can be expanded. That is, it is possible to reduce the influence of protrusions such as nozzles that are protruded on the outer surface of the reactor pressure vessel A, etc., on running, so that it is possible to perform flaw detection in a wide range.

In this embodiment, as the traveling means of the main body, the main body 12 is supported by the guide rollers 16 and 16 so as to be able to travel to the pole track 18 provided on the outer peripheral side of the container A, and is provided on the pole track 18. Rotate this pinion 17 by engaging the pinion 17 with the rack
Although the main body 12 is made to run, as the running means, for example, a magnet wheel may be provided on the main body 12 and the outer surface of the container A may be run by this magnet wheel. In the above embodiment, 2
Although the stability of the moving mechanism 14 is improved by using the book connecting links 33, it goes without saying that the book connecting links 33 may be one.

[0019]

As described above, according to the flaw detector of the present invention, the following effects can be obtained. By driving the drive motor, the probe can be moved in parallel to the direction orthogonal to the traveling direction of the main body,
It is possible to detect flaws in a wide range of reactor pressure vessels and to move the probe with one drive source, so the structure can be simplified and the device can be downsized. You can Further, by arranging the probe at the front side front position of the main body by the moving mechanism, it is possible to eliminate the sideward projection of the main body, and the arm portion for moving the probe is provided as in the conventional device. It is possible to expand the range in which flaw detection is possible, as compared with the case where the main body protrudes in the side direction. That is, it is possible to reduce the influence on the traveling of the main body by the protruding portion such as the nozzle protruding to the outer surface of the reactor pressure vessel or the like, so that it is possible to perform flaw detection in a wide range.

[Brief description of drawings]

FIG. 1 is a schematic front view of a structure of a flaw detector according to an embodiment of the present invention, in which a portion of the flaw detector is viewed in section.

FIG. 2 is a schematic side view of a part of the flaw detection device for explaining the structure and configuration of the flaw detection device of the present embodiment.

FIG. 3 is a schematic front view of a moving mechanism for explaining the mechanism of the flaw detection device of this embodiment.

FIG. 4 is a schematic top view of a moving mechanism for explaining the mechanism of the flaw detection apparatus of this embodiment.

FIG. 5 is a schematic plan view of a flaw detection device for explaining the structure and configuration of a conventional flaw detection device.

[Explanation of symbols]

 11 flaw detector 12 main body 13 drive motor 14 moving mechanism 15 probe 24 crank member 25 connecting link 26 first slider 32 second slider 33 connecting link 35 third slider 36 swinging link

Claims (1)

[Claims] 1. A flaw detection device, which is attached to a wall surface of a reactor pressure vessel or the like and detects defects on the wall surface by a probe, comprising a main body capable of traveling around the outer periphery of the container, and a drive provided on the main body. A motor and a moving mechanism for moving the probe in a direction orthogonal to the traveling direction of the main body by the rotational force of the drive motor, the moving mechanism including a crank member rotated by the drive motor. A connecting link whose one end is rotatably connected to the crank member, and the other end of the connecting link being rotatably connected, and a direction orthogonal to the traveling direction of the main body at the side of the drive motor. A first slider slidably provided on the first slider, and a second slider slidably provided on the rear side of the main body with respect to the first slider in a direction orthogonal to the first slider. And one end is front A connection link that is rotatably connected to the first slider and has an intermediate portion rotatably connected to the second slider; and the second link located on the rear side of the main body with respect to the second slider. A third slider slidably provided in the same direction as the slider, one end rotatably connected to the third slider at a parallel position orthogonal to the traveling direction of the main body, and the other end respectively. A pair that are rotatably connected to the probe and are arranged in parallel, and that the other end of the connecting link is rotatably connected to at least one of the intermediate parts in the same length. And a swing link of the flaw detection device.