JPH09152406A - Internal surface inspection instrument for piping - Google Patents

Abstract

PROBLEM TO BE SOLVED: To improve inspection accuracy by enabling inspection of the integrity of the internal surface of a piping accurately in an internal surface inspection instrument for the piping. SOLUTION: In this internal surface inspection instrument, a tip part of a multi-joint arm 12 with a base end part supported on the body 11 of an inspection instrument is lifted or lowered by a lift mechanism 13 to be loaded freely into or unloaded from an inspection port while remote control is made possible by arm drive mechanisms 16 and 17. A polishing tool, an etching tool or a replica sampling tool as inspection tool is made free to load on or unload from the tip part of the multi-joint arm 12 through a pressing mechanism 14. A monitoring camera 22 is inserted into the piping 10 through an inspection port 10c to monitor the inside thereof.

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a pipe inner surface inspection apparatus which is applied to a sump inspection of the inner surface of various pipes, particularly small diameter pipes.

[0002]

2. Description of the Related Art When inspecting the inner surface of various pipes, it is common to use a traveling carriage that can travel freely in the pipes, but when the pipes are bent at a right angle or the inlet has a small diameter. It is not possible to insert the traveling carriage into the pipe and drive it. Therefore, conventionally, a surveillance camera is inserted into the pipe from a small-diameter inlet, and the inside of the pipe is inspected using the surveillance camera.

[0003]

However, in order to accurately inspect the soundness of the inner surface of the pipe, visual inspection using a surveillance camera is not sufficient, and a pipe inner surface inspection device with high inspection accuracy is desired. Is the current situation.

The present invention is intended to solve such problems, and an object of the present invention is to provide a pipe inner surface inspection apparatus having a high inspection accuracy capable of accurately inspecting the soundness of the inner surface of a pipe.

[0005]

In order to achieve the above object, a pipe inner surface inspection apparatus of the present invention comprises an inspection apparatus body, a base end portion of which is supported by the inspection apparatus body, and a tip portion of which is connected to an inspection port through a pipe. A multi-joint arm that can be freely inserted and removed, an elevating mechanism that raises and lowers the multi-joint arm with respect to the inspection apparatus body, an arm drive mechanism that remotely operates the multi-joint arm, and a tip end portion of the multi-joint arm. A pressing mechanism that is mounted and presses the inspection tool against the inner surface of the pipe, a polishing tool as the inspection tool that is detachably attached to the pressing mechanism, and an inspection that is detachably attached to the pressing mechanism. An etching tool as a tool, a replica collecting tool as the inspection tool detachably provided to the pressing mechanism, and a monitoring camera inserted into the pipe through the inspection port to monitor the inside are provided. It is characterized in that the.

Therefore, by operating the elevating mechanism, the tip of the multi-joint arm is inserted from the inspection device body into the pipe through the inspection port, and the multi-joint arm is remotely operated by the arm driving mechanism to bring the tip to a predetermined position. Move, first, press the polishing tool against the inner surface of the pipe with the pressing mechanism attached to the tip of the multi-joint arm to polish the surface to be inspected, then
After replacing the inspection tool with an etching tool and performing etching finishing with this etching tool, the inspection tool is replaced with a replica sampling tool, and a replica of the metal structure of the surface to be inspected is sampled by this replica sampling tool. At this time,
Work is performed while monitoring the inside with a surveillance camera inserted into the pipe through the inspection port.

[0007]

Embodiments of the present invention will be described below.

In the pipe inner surface inspection device of the present invention, the base end portion of the multi-joint arm is supported by the inspection device body and can be moved up and down by the elevating mechanism, and the tip end portion can be inserted into and removed from the inspection port in the pipe. Has become. This multi-joint arm is bendable in the radial direction in the pipe by connecting the arm portions by the rotary shafts as at least three joints, and has one turning shaft in the circumferential direction in the pipe. It is freely rotatable. Each arm portion of the multi-joint arm is connected to an arm drive mechanism provided in the inspection apparatus body via a control cable, and this arm drive mechanism can remotely control each arm portion.

Various inspection tools can be attached to and detached from the tip of the articulated arm through a pressing mechanism. As this inspection tool, a polishing tool for polishing the inner surface of the pipe, an etching tool for etching the inner surface of the pipe, and a replica collection tool for collecting a metallographic replica of the inner surface of the pipe are prepared, and can be replaced at any time. Has become. Then, the pressing mechanism in which each inspection tool can be attached and detached can press the attached inspection tool on the inner surface of the pipe by slightly moving in the radial direction of the arm portion. Further, a surveillance camera attached to the tip of the support arm can be inserted from an inspection port different from the inspection port into which the multi-joint arm and each inspection tool can be inserted, and the inside can be monitored by this monitoring camera.

When performing an inspection with such a pipe inner surface inspection device, the elevating mechanism is actuated to raise the articulated arm from the inspection device main body and insert its tip into the pipe through the inspection port to drive the arm. The mechanism remotely operates each arm portion of the multi-joint arm to move the inspection tool attached to the distal end portion to a predetermined position. In this state, first, a polishing tool is attached to the tip of the articulated arm, and the polishing mechanism presses the polishing tool against the inner surface of the pipe to polish the surface to be inspected. Next, the inspection tool is replaced with the etching tool from the polishing tool, and the surface to be inspected is etched and finished by this etching tool. After that, the inspection tool is replaced with the replica sampling tool from the etching tool, and the metallographic replica of the surface to be inspected is sampled by this replica sampling tool.
During these various operations, a surveillance camera is inserted into the pipe from another inspection port, and the work is performed while monitoring the inside with this surveillance camera.

[0011]

Embodiments of the present invention will be described below in detail with reference to the drawings.

FIG. 1 is a schematic view showing the overall construction of a pipe inner surface inspection apparatus according to an embodiment of the present invention, FIG. 2 is a sectional view taken along line II-II of FIG. 1, and FIG. 3 is a multi-joint structure of the pipe inner surface inspection apparatus of this embodiment. An outline of the arm, FIG. 4 is an outline of the pressing mechanism and the polishing tool attached to the tip of the articulated arm, FIG. 5 is a VV cross section of FIG. 4, and FIG. 6 is an outline of the etching tool attached to the pressing mechanism. FIG. 7 shows a front view of the etching tool, FIG. 8 shows an outline of the replica collecting tool mounted on the pressing mechanism, and FIG. 9 shows a front view showing the operation of the replica collecting tool.

As shown in FIGS. 1 and 2, the pipe 10 has two inspection ports 10b and 10c formed on both sides of the venturi portion 11a at predetermined intervals. Is arranged close to these inspection ports 10b and 10c. That is, one inspection port 10 of the pipe 10
An inspection apparatus main body 11 is arranged adjacent to b, a base end portion of an articulated arm 12 is supported on an upper portion of the inspection apparatus main body 11, and can be raised and lowered by an elevating mechanism 13. . The end of this multi-joint arm 12 can be inserted into and removed from the pipe 10 through the inspection port 10b. The multi-joint arm 12 can be bent in the pipe 10 in the radial direction by three joints, and It is possible to turn in the circumferential direction in the pipe 10 by one turning portion. Further, various inspection tools 15 can be attached to and detached from the distal end portion of the multi-joint arm 12 via a pressing mechanism 14.

Further, the inspection apparatus main body 11 is provided with a guide drive section 16 for bending the multi-joint arm 12 in the radial direction in the pipe 10 and a swing drive section 17 for swinging the multi-joint arm 12, which is driven by a control cable described later. It is connected. Further, the control panel 1 is adjacent to the inspection device main body 11.
8, an empty distribution board 19, and a liquid tank 20 are installed, and these are connected via a control cable 21 to the above-described articulated arm 1
2. The elevator mechanism 13, the pressing mechanism 14, the inspection tool 15, the guide drive unit 16, and the turning drive unit 17 are connected, and the operation of each device can be remotely controlled. On the other hand, from the inspection port 10c, a support arm 23 having a surveillance camera 22 mounted on the tip thereof can be freely inserted and removed, and the inspection work situation in the pipe 10 can be observed by a monitor 24.

Hereinafter, the articulated arm 12 and the pressing mechanism 1 will be described.
4, the inspection tool 15 will be described in detail. Articulated arm 12
At the bottom, as shown in FIG.
A base end portion of a second arm 33 is pivotally attached to the tip end portion of the first arm 31 fixed to 1 by a first rotating shaft 32. The second arm 33 is connected to a support arm 33a on the base end side. The turning arm 33b on the tip side is connected by a turning shaft 34 so as to be turnable in the circumferential direction. The end portion of the control cable 35 connected to the swivel drive unit 17 is wound around the periphery and fixed to the swivel shaft 34, and the swivel drive unit 17 controls the control cable 35.
The turning arm 33b of the second arm 33 can be driven to turn in the circumferential direction via the.

A base end portion of a third arm 37 is pivotally attached to a tip end portion of the second arm 33 (revolving arm 33b) by a second rotating shaft 36, and a tip end portion of the third arm 37 has a first end portion. The base end of the fourth arm 39 is pivotally attached by the three-rotation shaft 38. Then, various inspection tools 15 are attached to the tip of the fourth arm 39 via the pressing mechanism 14. Then, an end of a control cable (not shown) connected to the above-described guide drive unit 16 is wound around each of the rotary shafts 32, 36, 38 so that each of the rotary shafts 32, 36, 3 can be wound.
It is fixed to No. 8 and the guide drive unit 16 can bend and drive each arm 33, 37, 39 in the radial direction via the control cable. In addition, each arm 33,
Lock bolts 40, air cylinders 41,
42 is mounted so that the arms 33, 37, 39 can be kept in a bending posture and a resistance force against a reaction force during work can be generated.

As the inspection tool 15, the pipe 1 is used.
Polishing tool 15a for polishing the inner surface of 0 (see FIG. 4)
And an etching tool 15b (see FIG. 6) for finishing the inner surface of the pipe 10 by etching, and a replica collecting tool 15c (see FIG. 8) for collecting a metallographic replica of the inner surface of the pipe 10 are replaceable. 3, the polishing tool 15a is attached for description.

In the pressing mechanism 14 and the polishing tool 15a as the inspection tool 15, as shown in FIGS. 4 and 5, a support frame having a U-shaped cross section at the tip of the fourth arm 39 and opening downward. A body 51 is attached, and a guide rail 52 is fixed to an upper portion of the support frame 51 along the longitudinal direction, and a linear guide 53 is attached to the guide rail 52.
Are movably supported. A fitting frame 57 is connected to the linear guide 53 by a pair of parallel links 54, 55 and an auxiliary link 56. A pressing cylinder 58 is mounted on the support frame 51, and the tip of the drive rod 59 is fixed to the linear guide 53.
By reciprocating, the fitting frame 57 can be moved up and down in parallel via the links 54 and 55 and the auxiliary link 56.

On the other hand, the polishing tool 15a is rotatably supported by a main body 63 on a rotary shaft 62 having a flap wheel 61 fixed to the tip thereof, and can be rotationally driven by a motor (not shown). The upper part of the main body 63 of the polishing tool 15a is fitted into a fitting recess 60 formed on the lower surface of the fitting frame 57 of the pressing mechanism 14 and is detachably fixed by a bolt 64.

Further, in the etching tool 15b, as shown in FIGS. 6 and 7, a rotary shaft 73 is rotatably supported in a main body 71 by a pair of front and rear bearings 72.
A holder 75 having absorbent cotton 74 wound around the outer periphery is fixed to the tip end of the rotary shaft 73, while a rotary cylinder 76 is drive-connected to the base end. A nozzle 77 capable of supplying the etching liquid to the absorbent cotton 74 is mounted on the upper portion of the main body 71, and the nozzle 77 is connected to the liquid tank 20 outside the pipe 10 via a hose (not shown). In addition, this etching tool 15
Similarly to the polishing tool 15a described above, b also has a pressing mechanism 14a.
It is fitted on the lower surface (fitting recess 60) of the fitting frame 57 and is detachably fixed by a bolt 64.

Further, in the replica sampling tool 15c,
As shown in FIGS. 8 and 9, a support member 82 is fixed to the front end portion of the main body 81 by fixing bolts 84 through elongated holes 83, and mounting brackets 85 are fixed to both sides of the support member 82. There is. A holder 86 having a lower surface in an arc shape corresponding to the inner surface (venturi portion 11a) of the pipe 10 is swingably attached to the lower portion of the support member 82 by the long hole 87 and the attachment bolt 88, and the attachment bracket 8 is attached.
5 is urged and supported on one side by a spring 89 stretched between the two. A soft sponge 90 is attached to the arc-shaped lower surface of the holder 86, and a thin film 92 can be held on the sponge 90 by a pair of left and right support pins 91. A liquid tank 95 including a cylinder case 93 and a piston rod 94 is fixed to the lower portion of the main body 81.
5, a nozzle 96 is extended forward and the tip portion is attached to the holder 8
It is located on the side of 6. A fluid cylinder 97 is attached to the rear portion of the main body 81, and a pressing bar 99 capable of pressing the piston rod 94 is fixed to the tip portion of the drive rod 98.

Here, the inner surface inspection of the venturi portion 11a in the pipe 10 using the above-described pipe inner surface inspection apparatus of the present embodiment will be described.

First, when the inner surface of the venturi portion 11a is inspected, the polishing tool 15a is attached to the pressing mechanism 14 of the articulated arm 12 as the inspection tool 15. Then, as shown in FIG. 1 and FIG. 2, by operating the elevating mechanism 13 of the inspection device body 11, the multi-joint arm 12 is lifted and inserted into the inspection port 10b of the pipe 10 from the tip end thereof,
Most of the articulated arm 12 is inserted into the pipe 10.
On the other hand, in the pipe 10, from the inspection port 10c to the support arm 23
The monitoring camera 22 is inserted by using. Then, while monitoring the inside by the monitoring camera 22, the guide driving unit 1
6 and the swivel drive unit 17, each arm 33, 37, 3
9 must be operated to control the operation so that the polishing tool 15a attached to the tip does not come into contact with the inner surface of the pipe 10. Then, the multi-joint arm 12 is remotely operated to move the polishing tool 15a to a predetermined inspection position.

In this state, as shown in FIGS. 4 and 5,
By remotely operating the pressing mechanism 14 of the articulated arm 12 and extending the pressing cylinder 58, the linear guide 53 is moved forward (to the left in FIG. 4) and fitted through the links 54 and 55 and the auxiliary link 56. The polishing tool 15a mounted on the frame 57 is translated, and the rotating flap wheel 61 is pressed against a predetermined inspection position, that is, the surface of the venturi portion 11a. At this time, attach the tip of the articulated arm 12 to the pipe 1
The range to be inspected can be polished and finished by swinging back and forth in the circumferential direction of 0. And during this polishing finishing work,
Finishing polishing is completed by making the abrasive grains of the flap wheel 61 finer and finally buffing.

When the polishing with the polishing tool 15a is completed in this way, the multi-joint arm 12 and the pressing mechanism 14 are then remotely operated, and contrary to the above, the multi-joint arm 1 is operated.
2 is taken out of the pipe 10 through the inspection port 11b, and the inspection tool mounted on the pressing mechanism 14 is replaced with the etching tool 15b from the polishing tool 15a. And, as before,
The articulated arm 12 is remotely operated and inserted into the pipe 10 through the inspection port 10b, and the etching tool 15b is moved to a predetermined inspection position. In this state, as shown in FIGS. 6 and 7,
While the etching liquid is being supplied from the nozzle 77 to the absorbent cotton 74, the pressing mechanism 14 of the multi-joint arm 12 is operated remotely to move the etching tool 15b mounted on the fitting frame 57 in parallel and to be attached to the holder 75. The absorbent cotton 74 is pressed against the finish-polished inspection surface of the venturi portion 11a. At this time, the range to be inspected can be etched by reciprocally swinging the tip of the multi-joint arm 12 in the circumferential direction of the pipe 10. After the etching process is performed once, the absorbent cotton 74 is separated from the inspection surface, and the rotary cylinder 76 rotates the absorbent cotton 74 together with the holder 75 at a predetermined angle and then presses the absorbent cotton 74 again against the inspection surface. It can be etched.

When the etching process by the etching tool 15b is completed in this way, the articulated arm 12 and the pressing mechanism 14 are then remotely operated, and the articulated arm 12 is taken out from the inspection port 11b to the outside of the pipe 10 and pressed. Mechanism 1
The inspection tool attached to No. 4 is replaced with the replica sampling tool 15c from the etching tool 15b. Then, the articulated arm 12 is remotely operated to be inserted into the pipe 10 through the inspection port 10b, and the replica sampling tool 15c is moved to a predetermined inspection position. In this state, as shown in FIG. 8, first, the fluid cylinder 97 is contracted and the piston rod 94 is pressed by the pressing bar 99, so that the molten liquid (methyl acetate) in the liquid tank 95 is compressed.
Is jetted from the nozzle 96, and this melt is supplied to the inspection surface subjected to the etching treatment.

Next, the pressing mechanism 14 of the multi-joint arm 12 is remotely operated to move the replica sampling tool 15c mounted on the fitting frame 57 in parallel to move the film 92 held by the holder 86 to the venturi portion 11a. It is pressed against the inspection surface that has been etched. At this time, as shown in FIG. 9A, the holder 86 attached in one direction by the spring 89 slides along the elongated hole 87 while pressing the film 92 against the inspection surface from one side thereof, as shown in FIG. As shown in b), the holder 86 is brought into close contact with the inspection surface, and the film 92 is securely attached. Then, after a lapse of a certain time, the pressing mechanism 14 is operated to operate the holder 8 together with the replica sampling tool 15c.
When 6 is pulled up from the inspection surface, contrary to the above, the holder 8
6 is separated from the inspection surface in order from one side, the film 92 can be appropriately peeled off from the inspection surface, and the metallographic replica of the venturi portion 11a can be collected.

When the metal tissue replica collecting process by the replica collecting tool 15c is completed in this way, the multi-joint arm 12 is remotely operated and the multi-joint arm 12 is opened for inspection 11.
b is taken out of the pipe 10. Then, the Venturi portion 11a of the pipe 10 can be inspected by observing the collected metal structure replica with a microscope or the like.

[0029]

As described above in detail with reference to the embodiments, according to the pipe inner surface inspection apparatus of the present invention, the tip end portion of the multi-joint arm whose base end is supported by the inspection apparatus body is lifted and lowered. It can be inserted into and removed from the inspection port by lifting it up and down, and it can be remotely controlled by the arm drive mechanism.The pressing mechanism that presses the inspection tool against the inner surface of the pipe is attached to the tip of the multi-joint arm. On the other hand, the polishing tool as an inspection tool, the etching tool, and the replica sampling tool can be freely attached and detached. On the other hand, a monitoring camera is installed to monitor the inside by inserting it into the pipe from the inspection port, so the inner surface of the pipe is polished and etched. By performing the replica sampling process, the sump inspection can be performed, and the soundness of the inner surface of the pipe can be accurately inspected, so that the inspection accuracy can be improved.

[Brief description of the drawings]

FIG. 1 is a schematic diagram showing the overall configuration of a pipe inner surface inspection apparatus according to an embodiment of the present invention.

FIG. 2 is a sectional view taken along line II-II of FIG.

FIG. 3 is a schematic view of an articulated arm in the pipe inner surface inspection apparatus according to the present embodiment.

FIG. 4 is a schematic view of a pressing mechanism and a polishing tool mounted on the tip of an articulated arm.

FIG. 5 is a sectional view taken along line VV of FIG. 4;

FIG. 6 is a schematic view of an etching tool mounted on a pressing mechanism.

FIG. 7 is a front view of an etching tool.

FIG. 8 is a schematic view of a replica collecting tool mounted on a pressing mechanism.

FIG. 9 is a front view showing the operation of the replica collecting tool.

[Explanation of symbols]

 10 Piping 10a Venturi part 10b, 10c Inspection port 11 Inspection device body 12 Articulated arm 13 Elevating mechanism 14 Pushing mechanism 15 Inspection tool 15a Polishing tool 15b Etching tool 15c Replica sampling tool 16 Guide drive part 17 Swing drive part 22 Surveillance camera

─────────────────────────────────────────────────── ─── Continuation of the front page (51) Int.Cl. ⁶ Identification code Internal reference number FI Technical indication H04N 7/18 H04N 7/18 B // G01N 1/28 G01N 1/28 M (72) Inventor Toshihiko Tsutani 2-1-1, Niihama, Arai-cho, Takasago-shi, Hyogo Mitsubishi Heavy Industries, Ltd. Takasago Research Institute (72) Inventor Tadami Nagata 1-1-1, Wadasaki-cho, Hyogo-ku, Kobe-shi, Hyogo Mitsubishi Heavy Industries Kobe Shipbuilding Co., Ltd. In-house

Claims (1)

[Claims] 1. An inspection apparatus main body, a multi-joint arm whose base end is supported by the inspection apparatus main body, and whose front end is freely inserted into and removed from an inspection port in a pipe, and the multi-joint with respect to the inspection apparatus main body. An elevating mechanism for elevating and lowering an arm, an arm driving mechanism for remotely operating the multi-joint arm, a pressing mechanism that is attached to the tip of the multi-joint arm and presses an inspection tool against the inner surface of the pipe, and the pressing mechanism A polishing tool that is detachably provided as the inspection tool, an etching tool that is detachably provided with respect to the pressing mechanism, and an etching tool that is detachably provided with respect to the pressing mechanism. A pipe inner surface inspection apparatus comprising: a replica collecting tool as a tool; and a surveillance camera inserted into the pipe through the inspection port to monitor the inside.