JPH07113628B2 - Traveling body for flaw detection / inspection tank with wall fixing aid - Google Patents

Description

DETAILED DESCRIPTION OF THE INVENTION [Industrial field of application] The present invention relates to, for example, operation of a liquefied gas in a tank,
The present invention relates to a tank inspection / inspection traveling body with a wall fixing aid used for inspection / inspection of the inner wall surface of the tank.

[Prior Art] Conventionally, there has been no device for flaw detection / inspection on the inner wall surface of a tank when, for example, liquefied gas in the tank is operating. Therefore, in order to perform flaw detection / inspection on the inner wall surface of the tank, it is necessary to stop the operation of the liquefied gas, which causes a problem that the operating rate is deteriorated.

Therefore, it is desired to develop a device that can detect and inspect the inner wall surface of the tank while the liquefied gas in the tank is operating. As this device, a traveling body equipped with a flaw detection / inspection device is considered, and as the traveling body, a floating body floating on a liquid surface, a submersible body whose position can be controlled by buoyancy control or propulsion force control, and the like are considered.

[Problems to be Solved by the Invention] Each of the floating body and the submersible body has a drawback that it cannot fix itself to the inner wall surface of the tank with high accuracy due to natural convection of liquefied gas in the tank and change in buoyancy. Therefore, as it is, it cannot be applied to ultrasonic flaw detection that requires highly accurate position fixing, and local zoom-up cannot be performed even when ITV (industrial TV) is used.

In view of the above, an object of the present invention is to provide a tank flaw detection / inspection traveling body with a wall surface fixing auxiliary tool, which can be fixed to the inner wall surface of the tank with high precision, thereby enabling precise flaw detection / inspection.

[Means for Solving the Problems] In order to achieve the above object, the present invention provides a submersible body which is controlled in position in a liquid in a tank by propulsive force control and moves by its own propulsion device, and A flaw detection / inspection device attached to the inner surface of the tank, and a flaw detection / inspection device to be attached to the submersible body, and the first arm and the second arm are jointed by the first joint so that the connecting angle of both arms can be arbitrarily adjusted. The first support arm connected so as to be possible and the first support arm are attached to the submersible body with a space therebetween, and the third arm portion and the fourth arm portion are connected to each other by the second joint. A second support arm connected so that the angle can be arbitrarily adjusted; a wall surface fixing auxiliary tool that is attached to the tips of the first support arm and the second support arm and that fixes the tank inner wall surface at a desired position; Equipped with the above-mentioned flaw detection / inspection equipment at a predetermined position on the inner wall surface of the tank. After the flaw detection / inspection is completed by the above, the flaw detection / inspection position of the flaw detection / inspection device can be changed by moving the first and second joints while the wall fixing aid is left as it is. is there.

[Operation] With the configuration described above, it is possible to fix the position with high accuracy for flaw detection / inspection by the wall fixing aid, and it is possible to perform precise flaw detection / inspection on the inner surface of the tank.

[Examples] Hereinafter, the present invention will be described with reference to the examples shown in the drawings. FIG. 1 shows a schematic configuration of the present invention, which is a case where a floating body is used as a traveling body. FIG. 1 shows the inner wall surface of the tank, and in the case of the low temperature liquefied gas tank, it is the inner tank. 2 is a liquid in a tank, 3 is a floating body which is an example of a running body, 4 is a propulsion device for moving the floating body 3, 5 is an ultrasonic flaw detector or ITV attached to the outer wall of the floating body 3. A flaw detection / inspection device 6 for (industrial TV) or the like, 6 is a wall surface fixing auxiliary tool for fixing the floating body 3 to a desired position on the inner wall surface 1 of the tank, and uses a suction cup, a permanent magnet or an electromagnet. Reference numeral 7 denotes an arm for fixing the wall surface fixing aid 6 to the floating body 3.

In such a structure, the floating body 3 moves on the liquid surface in the tank by the propulsion unit 4, and fixes itself to the inner wall surface 1 of the tank by using the wall surface fixing auxiliary tool 6 at a desired position. Check and inspect the inner wall surface 1 of the tank by 5. After the flaw detection / inspection is completed, the operation of the wall fixing aid 6 is stopped, the floating body 3 is moved to a desired position on the next inner wall surface of the tank, and the inner wall surface 1 of the tank is again inspected and inspected.

Here, as a method of stopping the operation of the wall fixing aid 6,
In the case of a suction cup, the liquid is introduced into the suction cup, in the case of a permanent magnet, a method of forcibly peeling it from the wall surface with a screw or the like is used, and in the case of an electromagnet, the power supply is stopped.

According to the embodiment described above, since the wall surface fixing aid 6 is attached to the floating body 3, it is possible to fix the position to the desired position on the inner wall surface 1 of the tank with high accuracy for performing flaw detection and inspection.・ It can be inspected. If a suction cup is used as the wall surface fixing aid 6, the tank inner wall surface 1 can be applied to all parts including non-ferrous parts, and if an electromagnet and a permanent magnet are used, the tank inner wall surface 1 can be reliably fixed to the magnetic part.

FIG. 2 shows the first embodiment of the present invention, in which a submersible body is used as a traveling body in a low temperature membrane tank. 1A is an inner tank, here a membrane, 3A is a submersible body which is a traveling body, and 4 is a propulsion unit attached to this submersible body 3A, which can change direction. Reference numeral 5 is an ultrasonic flaw detector attached to the submersible body 3A, flaw detector / inspector such as ITV, 6
Is a wall fixing aid, and may be any of a suction cup, a permanent magnet, and an electromagnet. For example, when the membrane 1A is made of stainless steel, the suction cup is most suitable because it cannot be fixed by magnetic force. Reference numeral 7 denotes an arm for supporting the wall surface fixing aid 6, and 8
Is a joint connecting the arms 7 to each other, 9 is a membrane fold, and 10 is a cable for supplying power to the submarine 3A and transmitting a signal.

The submersible body 3A shown in FIG. 2 is moved in the tank liquid by the propulsion device 4 and, at a predetermined position, the submerged body 3A itself is moved by the wall fixing aid 6.
Although it is fixed to, and is subjected to flaw detection and inspection, unlike the embodiment of FIG. 1, after the flaw detection and inspection at one location is completed, the wall fixing aid 6 is left and the joint 8 is moved to perform flaw detection and inspection. Device 5
By changing the position of and performing the flaw detection / inspection again, a wide range of flaw detection / inspection can be performed.

FIG. 3 shows the internal structure of the tank when the embodiment shown in FIG. 2 is applied. 11 is a relay buoy for the cable 10, 12 is a cable for the vapor phase and a wire for lifting, and 13 is an inspection device carry-in. The carrying-out device is shown, and other configurations are the same as those in FIG.

[Advantages of the Invention] According to the present invention described above, a submersible body whose position is controlled by propulsive force control in the liquid in the tank and which is moved by its own propulsion device, and an inner surface of the tank attached to the submersible body A flaw detection / inspection device for flaw detection / inspection, and attached to the above-mentioned submersible, the first arm and the second arm were connected by the first joint so that the connection angle of both arms could be adjusted arbitrarily. The first support arm and the first support arm are attached to the submersible at a distance from each other, and the third arm portion and the fourth arm portion can freely adjust the connecting angle of both arm portions by the second joint. The second support arm connected as described above, and a wall surface fixing auxiliary tool that is attached to the distal ends of the first support arm and the second support arm and that fixes the tank wall surface to a desired position on the inner wall surface of the tank. At the specified position on the wall surface, the flaw detection / inspection device finishes the flaw detection / inspection. After that, the flaw detection / inspection position of the flaw detection / inspection device can be changed by moving the first and second joints with the wall surface fixing aid kept as it is. Therefore, it is possible to provide a traveling body for tank flaw detection / inspection with a wall fixing aid that enables precise flaw detection / inspection.

[Brief description of drawings]

FIG. 1 is a diagram showing a schematic structure of a tank flaw detection / inspection traveling body with a wall fixing aid of the present invention, FIG. 2 is a diagram for explaining a first embodiment of the present invention, and FIG. 3 is FIG. It is a block diagram in the tank when the embodiment of is applied. 1 ... tank inner wall, 1A ... membrane, 2 ... tank liquid, 3 ... floating body, 3A ... submersible body, 4 ... propulsion device, 5
...... Flaw detection / inspection device, 6 …… Wall fixing aid, 7 ……
Arms, 8 ... Joints, 9 ... Membrane folds, 10 ... Cables, 11 ... Relay buoys, 12 ... Cables and hoisting wires, 13 ... Loading / unloading devices.

Claims (1)

[Claims] Claims: 1. A submersible body whose position is controlled by propulsive force control in liquid in a tank and which is moved by its own propulsion device, and flaw detection / inspection for mounting / inspecting the inner surface of the tank attached to this submersible body. An inspection device; a first support arm attached to the submersible body; a first arm portion and a second arm portion connected to each other by a first joint so that connection angles of both arm portions can be arbitrarily adjusted; A second support arm which is attached to the first support arm at a distance from the first support arm, and the third arm part and the fourth arm part are connected by a second joint so that the connection angle of both arm parts can be arbitrarily adjusted. And a wall surface fixing aid attached to the tips of the first support arm and the second support arm and fixed to a desired position on the inner wall surface of the tank. After the inspection and inspection are completed by the inspection device, the above-mentioned wall fixing aid A running body for tank flaw detection / inspection with a wall fixing aid, characterized in that the flaw detection / inspection position of the flaw detection / inspection device can be changed by moving the first and second joints in that state. .