JPH068731B2 - Probe position detection method - Google Patents
Probe position detection methodInfo
- Publication number
- JPH068731B2 JPH068731B2 JP60064666A JP6466685A JPH068731B2 JP H068731 B2 JPH068731 B2 JP H068731B2 JP 60064666 A JP60064666 A JP 60064666A JP 6466685 A JP6466685 A JP 6466685A JP H068731 B2 JPH068731 B2 JP H068731B2
- Authority
- JP
- Japan
- Prior art keywords
- probe
- flaw detection
- elbow
- arm
- track
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Expired - Lifetime
Links
Classifications
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
- G01B17/00—Measuring arrangements characterised by the use of infrasonic, sonic or ultrasonic vibrations
Description
【発明の詳細な説明】 〔発明の利用分野〕 本発明は、原子力発電所等に用いられる配管等の超音波
探傷装置の制御方式に係り、特に配管の直管＋エルボ溶
接部の探傷を行なう場合の探触子位置検出に好適な探触
子位置検出方式に関する。Description: FIELD OF THE INVENTION The present invention relates to a control system for an ultrasonic flaw detector for piping used in a nuclear power plant or the like, and particularly for detecting a straight pipe of a pipe and an elbow weld. In this case, the present invention relates to a probe position detection method suitable for detecting the probe position.
配管の直管＋曲管溶接部の超音波探傷装置としては、特
開昭５６−39459 号，５７−175255 号，５８−24827
号等がある。これらの装置は超音波探触子等の駆動方法
が多少異なるものの、おおむね第１３図に示す如く、直
管１上に着脱自在に取付けられる軌道７と、その上を直
管１の周方向に走行する移動体４と、移動体４に取付け
られる探傷アーム５と、探傷アーム５に沿つて移動する
探触子６とにより構成される。As an ultrasonic flaw detector for a straight pipe + curved pipe welded portion of a pipe, JP-A-56-39459, 57-175255, 58-24827
There are issues, etc. Although these devices are slightly different in the driving method of the ultrasonic probe or the like, generally, as shown in FIG. 13, a track 7 which is detachably mounted on the straight pipe 1 and a track 7 which is mounted on the straight pipe 1 in the circumferential direction of the straight pipe 1. It is composed of a moving body 4 that runs, a flaw detection arm 5 attached to the movement body 4, and a probe 6 that moves along the flaw detection arm 5.
このような超音波探傷装置で配管を検査する場合、探触
子６はエルボ２に倣い走査される。従来のこの種装置に
あつては、配管が曲率を有する（曲がつている）ことに
ついて特別な配慮をしていないため、装置制御および検
査データ上、探触子６の位置は６′として表示または記
録されていた。従つて、配管に欠陥がある場合、実際の
欠陥位置と検出表示された欠陥位置とにずれが生じる問
題があつた。When inspecting a pipe with such an ultrasonic flaw detector, the probe 6 is scanned following the elbow 2. In the conventional device of this type, since no special consideration is given to the pipe having a curvature (bent), the position of the probe 6 is displayed as 6'in the device control and inspection data. Or was recorded. Therefore, when there is a defect in the pipe, there is a problem that the actual defect position and the detected and displayed defect position are displaced.
本発明の目的は、被検体が曲がつている場合でも、超音
波探傷装置に特別なセンサ等を設けずに、被検体の曲率
を考慮して探触子の位置を求め、高精度に探傷検査でき
る探触子位置検出方式を提供することである。The object of the present invention is to detect the position of the probe in consideration of the curvature of the test object without providing a special sensor or the like in the ultrasonic testing device even when the test object is bent, and to perform flaw detection with high accuracy. It is to provide a probe position detection method capable of inspecting.
本発明は、配管の直管＋エルボ，エルボ＋エルボ等の溶
接部を探傷する場合、配管の直径，曲率半径，溶接線に
対する超音波探傷装置の取り付け位置を基に、探傷アー
ム上の探触位置から、溶接線を基準位置として探触子の
距離を求める方式を与えるものである。このように溶接
線を基準とするのは、溶接により生ずる欠陥が探傷の対
象となるからであり、溶接線から離れた部分には探傷す
べき欠陥が基本的に生じないからである。According to the present invention, when a welded portion such as a straight pipe + elbow or an elbow + elbow of a pipe is inspected, the probe on the flaw detection arm is detected based on the diameter of the pipe, the radius of curvature, and the attachment position of the ultrasonic flaw detector to the welding line. This is a method for obtaining the distance of the probe from the position with the welding line as the reference position. The reason why the welding line is used as a reference is that a defect caused by welding is an object of flaw detection, and basically, a defect to be flaw-detected does not occur in a portion apart from the welding line.
以下、本発明の一実施例を第１図〜第４図により説明す
る。An embodiment of the present invention will be described below with reference to FIGS.
第１図は、直管＋エルボ溶接部のエルボ背側を探傷する
場合の探触子位置検出方式の原理図、第２図は、腹側を
探傷する場合の探触子位置検出方式の原理図である。Fig. 1 is a principle diagram of the probe position detection method for flaw detection on the back side of the elbow of a straight pipe + elbow weld, and Fig. 2 is a principle of the probe position detection method for flaw detection on the abdominal side. It is a figure.
まず、直管＋エルボ溶接部のエルボ背側を探傷する場合
の探触子位置検出方式について、第１図により説明す
る。一般に、直管１とエルボ２との溶接３との溶接３を
検査するための超音波探傷装置は、超音波探傷装置が配
管１，２の周方向に走行するために溶接線３の直管１側
に設置される軌道７と、探触子６を配管１，２の周方向
に駆動するために軌道７上を走行する移動体４と、探触
子６を配管１，２の軸方向に駆動するために移動体４に
対し回動自在に設けられる探傷アーム５と、探傷アーム
５に沿つて配管１，２上を移動する探触子６とにより構
成される。First, a probe position detecting method for detecting flaws on the back side of the elbow of the straight pipe + elbow weld will be described with reference to FIG. Generally, an ultrasonic flaw detector for inspecting a weld 3 of a straight pipe 1 and a weld 3 of an elbow 2 is a straight pipe of a welding line 3 because the ultrasonic flaw detector travels in the circumferential direction of the pipes 1, 2. The track 7 installed on the first side, the moving body 4 traveling on the track 7 for driving the probe 6 in the circumferential direction of the pipes 1 and 2, and the probe 6 in the axial direction of the pipes 1 and 2. It is composed of a flaw detection arm 5 rotatably provided with respect to the moving body 4 for driving to the above, and a probe 6 which moves on the pipes 1 and 2 along the flaw detection arm 5.
この様な超音波探傷装置により、溶接３のエルボ２側を
検査する場合、探触子６の位置Ａ′は、配管１，２の軸
方向について、溶接線３上の点Ａ0′との距離で与えら
れる。ここで、エルボ２の曲率中心をＯ，曲率半径を
Ｒ，直径をＤとすると、探触子６の位置Ａ′は、曲率中
心Ｏ、曲率半径ｒ′＝１／２Ｄ＋Ｒ上の円弧Ａ0′Ａ′
で与えられる。この弧Ａ0′Ａ′を求めるためには、曲
率半径ｒはエルボ２の寸法より与えられるから、弧
Ａ0′Ａ′の中心角∠Ａ0′ＯＡ′＝α′を求めれば(1)
式 但し、 ｒ′＝Ｒ＋（Ｄ／２） ………(2) で与えられる。When the elbow 2 side of the welding 3 is inspected by such an ultrasonic flaw detector, the position A ′ of the probe 6 is the same as the point A 0 ′ on the welding line 3 in the axial direction of the pipes 1 and 2. Given in distance. Assuming that the center of curvature of the elbow 2 is O, the radius of curvature is R, and the diameter is D, the position A ′ of the probe 6 has an arc A 0 ′ on the center of curvature O and the radius of curvature r ′ = 1 / 2D + R. A '
Given in. In order to obtain this arc A 0 ′ A ′, the radius of curvature r is given by the dimension of the elbow 2, so if the center angle ∠A 0 ′ OA ′ = α ′ of the arc A 0 ′ A ′ is obtained (1)
formula However, r '= R + (D / 2) ... (2) is given.
以下、この中心角α′の算出法について説明する。探傷
アーム５上の探触子６の位置をＡ、移動体４に探傷アー
ム５を取り付けた位置をＢ、探触子６が溶接線３上にあ
る場合の探傷アーム５上の探触子６の位置をＡ０とす
る。△ＯＡＢ及び△ＯＡ０Ｂにおいて、それぞれ ∠ＢＯＡ＝α ………(3) ∠ＢＯＡ０＝α０ ………(4) と置くと、 α′＝α−α０ ………(5) となる。まず、△ＯＡＢに於いて、▲▼即ち，探傷
アーム５上の探触子６の位置をｌ，▲▼をｒ，▲
▼をｍとすると、余弦定理より、 ここで、配管１，２表面からのＡ０の高さをｈとする
と、ｒは、 ｒ＝Ｒ＋（Ｄ／２）＋ｈ ………(7) で与えられる。次に△ＯＡ０Ｂにおいて、 をｌ０とすると、 であるから、余弦定理より、 ここで、(6)式及び(8)式において、ｒは(7)式の如くエ
ルボ２及び超音波探傷装置の寸法で、ｌ及びｌ０は、超
音波探傷装置内の位置検出機構により検出される探傷ア
ーム５上の探触子６の位置であるから、α及びα０を求
めるには、ｍを求める必要がある。そこで、線分 のＡ０側の延長線上で、点Ｂから下した垂線の足をＣと
する。そして、▲▼即ち，移動体４に探傷アーム５
を取り付けた位置Ｂと溶接線３との距離をＳ、点Ｂの直
管１からの高さをＨとすると、△ＯＣＢにおいて、 ▲▼＝Ｓ (9) ▲▼＝ｒ′＋Ｈ＝Ｒ＋（Ｄ／２）＋Ｈ ……(10) ∠ＯＣＢ＝π／２ ………(11) であるから よつて、溶接線３からの探触子の位置Ａ0′Ａ′は以下
の如く求められる。The method of calculating the central angle α'will be described below. The position of the probe 6 on the flaw detection arm 5 is A, the position of the flaw detection arm 5 attached to the moving body 4 is B, and the probe 6 on the flaw detection arm 5 when the probe 6 is on the welding line 3 The position of is set to A 0 . In ΔOAB and ΔOA 0 B, ∠BOA = α ………… (3) ∠BOA 0 = α 0 ………… (4), then α ′ = α-α 0 ………… (5) Become. First, in ΔOAB, ▲ ▼, that is, the position of the probe 6 on the flaw detection arm 5 is l, ▲ ▼ is r, ▲.
If ▼ is m, from the cosine theorem, Here, when the height of A 0 from the surfaces of the pipes 1 and 2 is h, r is given by r = R + (D / 2) + h (7) Next, in ΔOA 0 B, Is l 0 , Therefore, from the cosine theorem, Here, in equations (6) and (8), r is the size of the elbow 2 and the ultrasonic flaw detector as in equation (7), and l and l 0 are detected by the position detection mechanism in the ultrasonic flaw detector. Since it is the position of the probe 6 on the flaw detection arm 5 that is set, it is necessary to find m in order to find α and α 0 . So the line segment On the extension line on the A 0 side of, the foot of the perpendicular line from the point B is C. ▲ ▼ That is, the flaw detection arm 5 is attached to the moving body 4.
Assuming that the distance between the position B where is attached and the welding line 3 is S, and the height of the point B from the straight pipe 1 is H, in ΔOCB, ▲ ▼ = S (9) ▲ ▼ = r ′ + H = R + ( D / 2) + H (10) ∠OCB = π / 2 (11) Therefore, the position A 0 ′ A ′ of the probe from the welding line 3 is obtained as follows.
Ａ0′Ａ′＝ｒ′α′ ………(1) 但し、ｒ′＝Ｒ＋（Ｄ／２） ………(2) α′＝α−α０ ………(5) ｒ＝Ｒ＋（Ｄ／２）＋ｈ ………(7) 次に、直管＋エルボ溶接部エルボ腹側を探傷する場合の
配管軸方向探触子位置検出方式について、第２図により
説明する。この場合も、背側を探傷する場合と同様に、
各点を定義する。溶接線３からの探触子６の位置Ａ0′
Ａ′は Ａ0′Ａ′＝ｒ′α′ ………(1) 但し ｒ′＝Ｒ−（Ｄ／２） ………(2)′ となる。α′は α′＝α−α０ ………(5) ｒ＝ｒ′−ｈ ＝Ｒ−（Ｄ／２）−Ｈ ……(7)′ となる。又、ｍは、△ＯＢＣにおいて、 ▲▼＝Ｓ ………(9) ▲▼＝ｒ′−Ｈ ＝Ｒ−（Ｄ／２）−Ｈ ………(10)′ ∠ＯＣＢ＝π／２ であるから となる。よつて、溶接線３からの探触子６の位置は以下
の如く求められる。A 0 ′ A ′ = r′α ′ (1) where r ′ = R + (D / 2) (2) α ′ = α−α 0 (5) r = R + (D / 2) + h (7) Next, the pipe axial direction probe position detection method for detecting a straight pipe + elbow weld elbow ventral side will be described with reference to FIG. Also in this case, as in the case of flaw detection on the back side,
Define each point. Position A 0 ′ of the probe 6 from the welding line 3
A 'is A 0' a A '= r'α' ......... (1 ) where r '= R- (D / 2 ) ......... (2)'. α'is α '= α-α 0 ……… (5) r = r'-h = R- (D / 2) -H (7) '. In addition, m is ΔOBC: ▲ ▼ = S ……… (9) ▲ ▼ = r′−H ＝ R− (D / 2) −H ……… (10) ′ ∠OCB = π / 2 because there is Becomes Therefore, the position of the probe 6 from the welding line 3 is obtained as follows.
Ａ0′Ａ′＝ｒ′α′ ………(1) 但し ｒ′＝Ｒ−（Ｄ／２） ………(2)′ α′＝α−α０ ………(5) ｒ＝Ｒ−（Ｄ／２）−ｈ ………(7)′ 次に、エルボ上を任意の角度で探傷する場合の配管軸方
向探触子位置検出方式について、第３図及び第４図によ
り説明する。第３図は配管周方向の位置を角度で示した
図で、第４図は第３図のＸＸ断面を示す。いま、第３図
に示す様に、配管１，２の周方向の位置を角度で定義す
る。第１図により説明したエルボ２背側の探傷は、第４
図における０゜での探傷、腹側の探傷は１８０゜での探
傷に相当する。探触子６がエルボ２上を第４図に示す様
に移動する。ここで、探触子６のエルボ２の軸方向への
駆動は、エルボ２の曲率に沿つて行なわれる場合、その
曲率中心Ｏは、ＰＰ′間で移動し、この時、曲率半径 は、エルボ２の周方向の探触子の角度位置をとすると ▲▼＝ｒ′Ｒ＋（Ｄ／２）cos ……(2)″ となる。溶接線３からの探触子６の位置Ａ0′Ａ′は、
この曲率上の弧の長さで与えられる。よつて、探触子６
がエルボ２の周方向０＜＜１８０゜，１８０゜＜＜
３６０゜の角度位置にある場合、第１図及び第２図に示
した各点を、(2)″で与えられる線分▲▼を含み、
エルボ２の軸と平行な面に投影すると、探触子６の位置
が以下の様に求められる。A 0 ′ A ′ = r′α ′ ………… (1) where r ′ = R- (D / 2) ………… (2) ′ α ′ = α-α 0 ………… (5) r = R- (D / 2) -h (7) 'Next, regarding the pipe axial direction probe position detection method when detecting flaws on the elbow at an arbitrary angle, FIG. 3 and FIG. Will be described. FIG. 3 is a view showing the position in the circumferential direction of the pipe in angle, and FIG. 4 shows the XX cross section of FIG. Now, as shown in FIG. 3, the circumferential positions of the pipes 1 and 2 are defined by angles. The flaw detection on the back side of the elbow 2 described with reference to FIG.
The flaw detection at 0 ° and the ventral flaw detection in the figure correspond to flaw detection at 180 °. The probe 6 moves on the elbow 2 as shown in FIG. Here, when the probe 6 is driven in the axial direction of the elbow 2, when the curvature of the elbow 2 is followed, the center of curvature O moves between PP 'and the radius of curvature at this time. Is ▲ ▼ = r′R + (D / 2) cos …… (2) ″, where the angular position of the probe in the circumferential direction of the elbow 2 is: Position A of the probe 6 from the welding line 3 0'A 'is
It is given by the length of the arc on this curvature. Yotsute, probe 6
Is the elbow 2 circumferential direction 0 << 180 °, 180 ° <<
In the case of the 360 ° angular position, the points shown in FIGS. 1 and 2 include the line segment ▲ ▼ given by (2) ″,
When projected onto a plane parallel to the axis of the elbow 2, the position of the probe 6 is obtained as follows.
Ａ0′Ａ′＝ｒ′α′ ………(1) 但し、ｒ′＝Ｒ＋（Ｄ／２）cos ………(2)″ α′＝α−α０ ………(5) ｒ＝ｒ′＋ｈcos ＝Ｒ＋｛（Ｄ／２）＋ｈ｝cos ……(7)″ 上記(2)″，(12)″，(7)″式に＝０及び＝πを代入
すると、＝０の場合(2)，(12)，(7)式に、＝πの場
合(2)′，(12)′，(7)′式に一致する。よつて上記式に
より、０≦≦２πの範囲で、探触子６の位置を求める
ことができる。A 0 ′ A ′ = r′α ′ …… (1) However, r ′ = R + (D / 2) cos ………… (2) ″ α ′ = α−α 0 …… (5) r = r '+ hcos = R + {(D / 2) + h} cos (7) "Substituting = 0 and = π into the equations (2)", (12) ", and (7)" yields = 0. In the case of, it corresponds to the equations (2), (12), and (7), and in the case of = π, it corresponds to the equations (2) ′, (12) ′, and (7) ′. Therefore, the position of the probe 6 can be obtained in the range of 0 ≦≦ 2π by the above formula.
次に、本発明による探触子位置検出方式が適用される超
音波探傷装置の例を、第５図，第６図により説明する。Next, an example of an ultrasonic flaw detector to which the probe position detecting method according to the present invention is applied will be described with reference to FIGS. 5 and 6.
第５図は、特開昭５６−39459 号で開示されている様な
本発明方式を適用すべき超音波探傷装置の全体図、第６
図は第５図のＹ矢視図である。移動体４は、モータ８に
より駆動されるピニオン１０を備えている。このピニオ
ン１０が配管直管部１に設置された軌道７のラツク１１
と噛み合いながら回転すると、移動体４は軌道７上を直
管１の周方向に移動する。それに伴い、探触子６は、エ
ルボ２の周方向に移動される。移動体４及び探触子６の
配管１，２の周方向の角度位置（第４図）は、モータ
８と直結したエンコーダ９により、モータの回転数を検
出した求められる。尚、移動体４は、保持具１２によ
り、軌道７に保持される。探触子６のエルボ２の軸方向
への駆動は、作業者が探触子６を走査するか、又は、移
動体４に設けられたモータ１４がボールネジ１３を回転
させ、探触子保持部１７を移動させてなされる。FIG. 5 is an overall view of an ultrasonic flaw detector to which the method of the present invention as disclosed in JP-A-56-39459 should be applied.
The figure is a view taken in the direction of the arrow Y in FIG. The moving body 4 includes a pinion 10 driven by a motor 8. This pinion 10 is the rack 11 of the track 7 installed on the straight pipe section 1.
When rotating while meshing with, the moving body 4 moves on the track 7 in the circumferential direction of the straight pipe 1. Accordingly, the probe 6 is moved in the circumferential direction of the elbow 2. The angular positions (FIG. 4) in the circumferential direction of the pipes 1 and 2 of the moving body 4 and the probe 6 are obtained by detecting the number of rotations of the motor by an encoder 9 directly connected to the motor 8. The moving body 4 is held on the track 7 by the holder 12. To drive the probe 6 in the axial direction of the elbow 2, an operator scans the probe 6, or a motor 14 provided in the moving body 4 rotates the ball screw 13 to move the probe holding portion. It is done by moving 17.
探傷アーム５上の探触子６の位置の検出は、本発明にお
いて次の様に行なわれる。まず、探触子６を手動走査す
る場合、探触子保持部１７が移動すると、ボールネジ１
３が回転する。この回転数をエンコーダ１５で検出し、
探触子６の探傷アーム５上の位置ｌ（第１図，第２図）
を求める。次に、モータ１４により探触子６を駆動する
場合は、このモータ１４に直結したエンコーダ１５で、
モータ１４の回転数を検出し、探触子６の探傷アーム５
上の位置ｌを求めることができる。また、配管径Ｄ，エ
ルボ曲率半径Ｒ，及び探触子保持部の高さ は、超音波探傷装置の設計値又はでき上り寸法から与え
られ、移動体４と探傷アーム５との接続部Ｂと溶接線３
との距離Ｓ、及び点Ｂの直管１からの高さＨは、超音波
探傷装置を直管１に取付けた後に測定し求められる。よ
つて、(2)″，(5)，(6)，(8)，(12)″，(7)″で用いら
れている未知数が得られ、溶接線３を基準とした探触子
６の位置Ａ0′Ａ′が(1)式から求められる。The detection of the position of the probe 6 on the flaw detection arm 5 is performed as follows in the present invention. First, in the case of manually scanning the probe 6, when the probe holding portion 17 moves, the ball screw 1
3 rotates. This rotation speed is detected by the encoder 15,
Position l of the probe 6 on the flaw detection arm 5 (FIGS. 1 and 2)
Ask for. Next, when the probe 6 is driven by the motor 14, the encoder 15 directly connected to the motor 14
The rotational speed of the motor 14 is detected, and the flaw detection arm 5 of the probe 6 is detected.
The upper position l can be determined. Also, the pipe diameter D, the elbow curvature radius R, and the height of the probe holding portion Is given from the design value of the ultrasonic flaw detector or the finished dimension, and the connection B between the moving body 4 and the flaw detection arm 5 and the welding line 3 are given.
The distance S between the straight tube 1 and the height H from the straight tube 1 at the point B is measured and determined after the ultrasonic flaw detector is attached to the straight tube 1. Therefore, the unknowns used in (2) ″, (5), (6), (8), (12) ″, and (7) ″ are obtained, and the probe 6 based on the welding line 3 is obtained. The position A 0 ′ A ′ of is obtained from the equation (1).
次に、本発明による探触子位置検出方式により、探触子
位置を検出するための回路の例を第７図〜第１２図によ
り説明する。第７図は回路の全体を示す。Ｒ，Ｄ，Ｓ，
Ｈ，ｈは、制御装置のパネル等から入力される外部信号
で、，ｌ，ｌ０は超音波探傷装置のエンコーダにより
測定される内部信号である。ｒ′演算部では、Ｒ，Ｄ，
cosにより(2)″式に基づきｒ′が計算される。ｍ演算
部２０では、ｒ′，cos，Ｓ，Ｈにより(12)″式に基
づき、ｍが計算される。ｒ演算部２１ではｒ′，cos
，ｈにより(7)″式に基づきｒが計算される。α演算
部２２ではｍ，ｒ，ｌ０により、(6)式に基づきαが計
算される。α０演算部２３ではｍ，ｒ，ｌ０により、
(8)式に基づきα０が計算される。加減算機２４では
α，α０により(5)式に基づきα′を計算し、乗算機２
５ではｒ′、α′により(1)式に基づき探触子位置Ａ0′
Ａ′を計算する。このＡ0′Ａ′の値は、制御装置の表
示装置２６に表示され、又、検査信号と共に記録装置２
７に記録される。Next, an example of a circuit for detecting the probe position by the probe position detection method according to the present invention will be described with reference to FIGS. FIG. 7 shows the whole circuit. R, D, S,
H and h are external signals input from the panel of the control device, and l and l 0 are internal signals measured by the encoder of the ultrasonic flaw detector. In the r'calculator, R, D,
r'is calculated based on the equation (2) "by cos. In the m operation unit 20, m is calculated based on the equation (12)" by r ', cos, S, and H. In the r operation unit 21, r ′, cos
, H calculates r based on the equation (7) ″. Α computing section 22 computes α based on equation (6) from m, r, l 0. α 0 computing section 23 computes m, r , L 0 ,
Α 0 is calculated based on the equation (8). The adder / subtractor 24 calculates α ′ from α and α 0 based on the equation (5), and the multiplier 2
5, the probe position A 0 ′ is calculated based on the equation (1) using r ′ and α ′.
Calculate A '. This value of A 0 ′ A ′ is displayed on the display device 26 of the control device, and is also recorded with the inspection signal.
Recorded in 7.
第８図にｒ′演算部１９、第９図にｍ演算部２０、第１
０図にｒ演算部２１、第１１図にα乗算部２２、第１２
図にα０演算部２３の回路の例をそれぞれ示す。これら
の各図において、回路ブロック内の各記号は、上記種々
のパラメータに対し行なわれる演算を表わしている。例
えば、第８図において、ＯＰアンプ２８の記号「 １／
２」は、パラメータＤがここでＤ／２となることを表現
しており、この回路全体としては、Ｒ，Ｄ，cosから
ｒ′を求める(2)″式を電気的に実行するものである。FIG. 8 shows the r'calculator 19, and FIG. 9 shows the m calculator 20, first
FIG. 0 shows the r calculation unit 21, FIG. 11 shows the α multiplication unit 22, and FIG.
In the figure, examples of the circuit of the α 0 calculation unit 23 are shown. In each of these figures, each symbol in the circuit block represents an operation performed on the above various parameters. For example, in FIG. 8, the symbol “1 /
2 ”expresses that the parameter D is D / 2 here, and the circuit as a whole electrically executes the equation (2) ″ for obtaining r ′ from R, D, and cos. is there.
ｒ′＝Ｒ＋（Ｄ／２）cos ………(2)″ その他の図についても、同様に理解できよう。r ′ = R + (D / 2) cos ………… (2) ″ The same applies to the other figures.
本発明による探触子位置検出方式は、超音波探傷装置側
に特別なセンサ等を設けることなく、溶接線からの探触
子の距離を求めることができ、又、その演算回路も比較
的簡単なものであるから、探傷装置の小型軽量化を図り
ながら、探傷精度の向上に大きな効果をもたらす。The probe position detection method according to the present invention can obtain the distance of the probe from the welding line without providing a special sensor or the like on the ultrasonic flaw detector side, and its arithmetic circuit is relatively simple. Therefore, it is possible to reduce the size and weight of the flaw detection device and bring about a great effect in improving the flaw detection accuracy.
第１図は直管＋エルボ溶接部のエルボ背側を探傷する場
合の探触子位置検出方式の原理図、第２図は同じく腹側
を探傷する場合の探触子位置検出方式の原理図、第３図
及び第４図はエルボ上を任意の角度で探傷する場合の配
管軸方向探触子位置検出方式の原理図、第５図は本発明
方式を適用すべき超音波探傷装置の全体図、第６図は第
５図のＹ矢視図、第７図は本発明方式による探触子位置
検出回路の全体図、第８図はそのうちｒ′演算部を表わ
す回路ブロツク図、第９図はｍ演算部，第１０図はｒ演
算部，第１１図はα演算部，第１２図はα０演算部をそ
れぞれ示す回路ブロツク図、第１３図は従来の検出方式
を示す図である。 １…直管、２…エルボ、３…溶接線、４…移動体、５…
探傷アーム、６…探触子、７…軌道、８…モータ、９…
エンコーダ、１０…ピニオン、１１…ラツク、１２…保
持具、１３…ボールネジ、１４…モータ、１５…エンコ
ーダ、１６…ギア、１７…探触子保持具、１８…cos関
数発生器、１９…ｒ′演算部、２０…ｍ演算部、２１…
ｒ演算部、２２…α演算部、２３…α０演算部、２４…
加減算機、２５…乗算機。Fig. 1 is a principle diagram of the probe position detection method for flaw detection on the back side of the elbow of the straight pipe + elbow weld, and Fig. 2 is a principle diagram of the probe position detection method for flaw detection on the abdominal side as well. FIGS. 3 and 4 are principle diagrams of a pipe axial probe position detection method when flaw detection is performed on the elbow at an arbitrary angle, and FIG. 5 is an entire ultrasonic flaw detection apparatus to which the method of the present invention should be applied. FIGS. 6 and 6 are views taken in the direction of the arrow Y in FIG. 5, FIG. 7 is an overall view of the probe position detection circuit according to the present invention, and FIG. 8 is a circuit block diagram showing the r'calculation section thereof, and FIG. FIG. 10 is a circuit block diagram showing an m arithmetic unit, FIG. 10 is an r arithmetic unit, FIG. 11 is an α arithmetic unit, and FIG. 12 is a circuit block diagram showing an α 0 arithmetic unit, and FIG. 13 is a diagram showing a conventional detection method. . 1 ... Straight pipe, 2 ... Elbow, 3 ... Welding line, 4 ... Moving body, 5 ...
Flaw detection arm, 6 ... probe, 7 ... orbit, 8 ... motor, 9 ...
Encoder, 10 ... Pinion, 11 ... Rack, 12 ... Holder, 13 ... Ball screw, 14 ... Motor, 15 ... Encoder, 16 ... Gear, 17 ... Probe holder, 18 ... Cos function generator, 19 ... r ' Calculation unit, 20 ... m Calculation unit, 21 ...
r arithmetic unit, 22 ... α arithmetic unit, 23 ... α 0 arithmetic unit, 24 ...
Adder / subtractor, 25 ... Multiplier.
Claims (1)
る軌道と、この軌道に沿って移動する移動体と、軌道と
交差する方向に設置され被検体の被検査面に垂直な面内
で回転可能に移動体に取付けられる探傷アームと、探傷
アームに保持される探触子とからなる超音波探傷装置の
探触子位置検出方式において、 被検体の曲り部の曲率半径をＲ，直径をＤ，探傷アーム
の移動体への取付け位置と被検体の溶接線との被検面上
の距離をＳ，探傷アームの取付け位置における被検面か
らの高さをＨ，探触子を探傷アームに支持した点の被検
面からの高さをｈ，探傷アームの支持点と探傷アーム上
の探触子の支持点との距離をｌ，探触子が被検体の溶接
線上にある場合の探傷アームの支持点と探触子支持点と
の距離をｌ０，被検体上で円周方向の移動体の角度位置
をとすると、溶接線を基準とした探触子の位置Ｌを次
式で算出することを特徴とする探触子位置検出方式。 Ｌ＝ｒ′α′ ただし、ｒ′＝Ｒ＋（Ｄ／２）cos α′＝α−α０ ｒ＝ｒ′＋ｈcos1. A track installed on a subject such as a pipe including a bent portion, a moving body that moves along the track, and a track that is installed in a direction intersecting with the track and is perpendicular to a test surface of the test subject. In a probe position detection method of an ultrasonic flaw detector, which includes a flaw detection arm rotatably mounted on a moving body and a probe held by the flaw detection arm, the radius of curvature of a curved portion of a subject is R , The diameter is D, the distance on the surface to be inspected from the welding position of the inspection arm to the moving body of the inspection arm is S, the height from the inspection surface at the inspection arm attachment position is H, the probe The height of the point supporting the flaw detection arm from the surface to be inspected is h, the distance between the flaw detection arm support point and the probe support point on the flaw detection arm is l, and the probe is on the welding line of the subject. the distance between the support point and the probe support points flaw arms of a case l 0, circumferentially shifting on the subject When the angular position of the body, the probe position detecting method, and calculates the position L of the probe relative to the welding line by the following equation. L = r′α ′ where r ′ = R + (D / 2) cos α ′ = α−α 0 r = r '+ hcos
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP60064666A JPH068731B2 (en) | 1985-03-28 | 1985-03-28 | Probe position detection method |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP60064666A JPH068731B2 (en) | 1985-03-28 | 1985-03-28 | Probe position detection method |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| JPS61223510A JPS61223510A (en) | 1986-10-04 |
| JPH068731B2 true JPH068731B2 (en) | 1994-02-02 |
Family
ID=13264748
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| JP60064666A Expired - Lifetime JPH068731B2 (en) | 1985-03-28 | 1985-03-28 | Probe position detection method |
Country Status (1)
| Country | Link |
|---|---|
| JP (1) | JPH068731B2 (en) |
Families Citing this family (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP4730123B2 (en) * | 2006-02-13 | 2011-07-20 | 東京電力株式会社 | Nondestructive inspection jig and ultrasonic nondestructive inspection equipment |
| JP5218073B2 (en) * | 2009-01-07 | 2013-06-26 | 東京電力株式会社 | Nondestructive inspection jig |
| CN107917953B (en) * | 2017-11-03 | 2021-07-02 | 中国石油天然气集团公司 | Method for inspecting movable part of fracturing elbow |
| CN111413411A (en) * | 2020-04-01 | 2020-07-14 | 山东沂水机床厂有限公司 | Ultrasonic wave right angle return bend lathe of detecting a flaw |
-
1985
- 1985-03-28 JP JP60064666A patent/JPH068731B2/en not_active Expired - Lifetime
Also Published As
| Publication number | Publication date |
|---|---|
| JPS61223510A (en) | 1986-10-04 |
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