JPH1010280A - Device for reactor pressure vessel inner surface clad inspection - Google Patents

Abstract

PROBLEM TO BE SOLVED: To discover defects such as removal of clad welding part during welding by fixing a camera for thermography capable of photographing clad welding part and displaying the thermography signal on a display. SOLUTION: On a dolly or welder body, a camera for thermography is fixed facing to a clad welding part and an image processor 28 converting an image signal 26 from a camera controller 25 to thermography signal 27 is provided. Also, a photographing position measuring device 36 for inputting circumferential position detection signals 31 from a circumferential position detector 30 fixed on a turning roller drive device 29 and axial position detection signals 34 from an axial position detector 33 fixed on a dolly drive device 32 and obtaining photographing position 35 of the camera 24 is provided. Besides, an operation controller 37 synthesizing the thermography signal 27 from the image processor 28 and the photographing position 35 from the photographing position measuring device 36 is provided, an image recorder 38 is connected and image signals 39 and 40 from devices 37 and 38 are displayed on a display 41.

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a reactor pressure vessel inner surface cladding inspection apparatus.

[0002]

2. Description of the Related Art A reactor pressure vessel is usually clad-welded on its inner surface for reinforcement and improvement of corrosion resistance.

FIG. 4 shows a welding apparatus for performing the clad welding.
As shown in FIG. 5, a pair of turning rollers 2 that can be placed and rolled while the cylindrical pressure vessel main body 1 is placed horizontally and a gantry disposed at a position between the pair of turning rollers 2 3, a rail 5 extending in the axial direction 4 inside the pressure vessel main body 1, a traveling vehicle 6 movable along the rail 5, and attached to the traveling vehicle 6.
The welding apparatus main body 9 supports the welding torch 8 so as to face the inner surface of the pressure vessel main body 1 via the arm 7.

[0004] Reference numeral 10 denotes a molten material supplied to the welding torch 8, and reference numeral 11 denotes a clad weld formed on the inner surface of the pressure vessel body 1.

[0005] Then, the cylindrical pressure vessel main body 1 is placed on a pair of turning rollers 2 in a state of being horizontally inclined,
The gantry 3 is arranged at a position between the pair of turning rollers 2, and both ends of the rail 5 are supported between the gantry 3 so as to be directed inside the pressure vessel main body 1 and in the axial direction 4. The traveling carriage 6 to which the main body 9 is attached is set on the rail 5.

In this state, the pressure vessel main body 1 is rotated by the turning roller 2, and the traveling carriage 6 is mounted on the traveling carriage 6 while moving the traveling carriage 6 by one pitch along the rail 5 every time the pressure vessel main body 1 rotates. Clad welding is performed on the entire inner surface of the pressure vessel main body 1 using the welding torch 8 of the welding device main body 9.

[0007]

However, when clad welding is performed on the inner surface of the pressure vessel main body 1 using the above-described welding apparatus main body 9, defects such as peeling of the clad welded portion 11 during welding are found. Therefore, it is necessary to perform a flaw detection inspection or the like in a later process, which is troublesome.

The present invention has been made in view of the above circumstances, and has as its object to provide a reactor pressure vessel inner cladding inspection apparatus capable of finding defects such as peeling of a clad weld during welding. .

[0009]

According to the present invention, a thermographic camera capable of photographing a clad weld formed by a welding torch is mounted on a welding apparatus body for forming a clad weld on the inner surface of a pressure vessel main body. An image processing device for converting a video signal photographed by a camera into a thermographic signal in which the surface temperature of an object is represented by a color distribution by image processing, and displaying the thermographic signal from the image processing device on a display device The present invention relates to a reactor pressure vessel inner surface cladding inspection device, which is provided with a control device.

In this case, a photographing position measuring device for obtaining a photographing position of a thermographic camera is provided based on a position detection signal from a position detector attached to the welding device main body. A configuration may be adopted in which the image capturing position from the image capturing position measuring device can be added to the signal and combined.

A recording device may be connected to the arithmetic and control unit.

Further, a printing device may be connected to the arithmetic and control unit or the recording device.

According to the above means, the following effects can be obtained.

A thermographic camera is attached to the welding apparatus main body so as to face a clad weld formed by a welding torch, and the thermographic camera is used to photograph the situation of the clad weld.

A video signal photographed by a thermography camera is sent to an image processing device, and the image processing device converts the video signal into a thermography signal representing the surface temperature of an object by a color distribution.

At the same time, a position detection signal from a position detector attached to the welding apparatus main body is sent to the photographing position measuring device, and the photographing position of the thermographic camera is obtained by the photographing position measuring device.

The image capturing position from the image capturing position measuring device is added to the thermographic signal from the image processing device thus obtained by the arithmetic and control unit, and the obtained image signal is transmitted by the inspector through the display device during clad welding. Then, it is determined whether or not a defect has occurred.

The image signal is recorded in a recording device, and is reproduced and displayed on a display device such as a display at a later date, if necessary, so that the presence or absence of a defect can be confirmed again and again.

When a defect is confirmed, the image of the defective portion is printed by a printing device such as a video printer,
Make them available for reports. Defective parts are repaired by welding again.

[0020]

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

FIGS. 1 to 3 show an embodiment of the present invention.

As shown in FIGS. 1 and 2, a pair of turning rollers 13 that can be placed and rolled while the cylindrical pressure vessel body 12 is laid horizontally and a position between the pair of turning rollers 13 are provided. A rail 16 supported at both ends by a gantry 14 disposed in the pressure vessel main body 12 and extending in the axial direction 15 in the interior of the pressure vessel body 12, a traveling trolley 17 movable along the rail 16, and an arm attached to the traveling trolley 17; Welding torch 19 so as to face the inner surface of pressure vessel body 12 via
And a welding device main body 20 supporting the welding device.

Reference numeral 21 denotes a molten material supplied to the welding torch 19, and reference numeral 22 denotes a clad weld formed on the inner surface of the pressure vessel body 12.

In the present invention, a thermographic camera 24 is attached to the traveling carriage 17 or the welding apparatus main body 20 via the arm 23 so as to face the clad welding portion 22 formed by the welding torch 19.

Then, as shown in FIG. 3, a video signal 26 photographed by a thermographic camera 24 and sent through a camera controller 25 is subjected to image processing so that the surface temperature of an object is represented by a color distribution. An image processing device for converting into a thermographic signal 27 is provided.

The driving device 29 for the turning roller 13
A circumferential position detection signal 31 from a circumferential position detector 30 such as a rotary encoder attached to the
And an axial position detection signal 34 from an axial position detector 33 such as a rotary encoder attached to the driving device 32 of the camera 32, and the photographing position 3 of the thermographic camera 24 is input.
5 is provided.

An arithmetic control unit 37 for adding and synthesizing the imaging position 35 from the imaging position measuring unit 36 to the thermographic signal 27 from the image processing unit 28 is provided. The arithmetic control unit 37 includes a recording device 38 such as a video recorder. A display device 41 such as a display which is connected and can display image signals 39 and 40 from the arithmetic and control unit 37 and the recording device 38 is provided.

Further, a printing device 42 such as a video printer is connected to at least one of the recording device 38 and the arithmetic and control device 37 as required.

Next, the operation will be described.

The cylindrical pressure vessel main body 12 is placed on a pair of turning rollers 13 in a state where it is horizontally inclined, and a gantry 14 is arranged at a position between the pair of turning rollers 13, and a rail is provided between the gantry 14. 16 at both ends of the pressure vessel body 1
The traveling carriage 17 to which the welding apparatus main body 20 is attached via the arm 18 is set on the rail 16 so as to be supported inside the interior 2 and in the axial direction 15.

In this state, the pressure vessel main body 12 is rotated by the turning roller 13, and the traveling carriage 17 is mounted on the traveling carriage 17 while moving the traveling carriage 17 by one pitch along the rail 16 every time the pressure vessel main body 12 rotates. Cladding welding is performed on the entire inner surface of the pressure vessel main body 12 using the welding torch 19 of the welding apparatus main body 20.

However, when performing clad welding on the inner surface of the pressure vessel main body 12 using the above-described welding apparatus main body 20,
If a defect such as peeling of the clad welded portion 22 cannot be found during welding, a flaw detection inspection or the like must be performed in a later process, which is troublesome.

Therefore, according to the present invention, a thermographic camera 24 is attached to the traveling carriage 17 or the welding apparatus main body 20 via the arm 23 so as to face the clad welding portion 22 formed by the welding torch 19. At 24, the situation of the clad weld 22 is photographed.

An image signal 26 photographed by the thermographic camera 24 is sent to an image processing device 28 through a camera controller 25, and is processed by the image processing device 28 into a thermographic signal 27 representing the surface temperature of the object in a color distribution. Is converted.

At the same time, a circumferential position detection signal 31 from a circumferential position detector 30 such as a rotary encoder attached to a driving device 29 of the turning roller 13 and a rotary encoder attached to a driving device 32 of the traveling carriage 17 The axial position detection signal 34 from the axial position detector 33 is sent to the photographing position measuring device 36, and the photographing position measuring device 36 obtains the photographing position 35 of the thermographic camera 24.

The imaging position 35 from the imaging position measuring device 36 is added to the thermography signal 27 from the image processing device 28 thus obtained by the arithmetic and control unit 37, and the obtained image signal 39 is applied during clad welding. The inspector looks through the display device 41 such as a display and determines whether or not a defect has occurred.

The image signal 39 is recorded on a recording device 38 such as a video recorder, and is reproduced and displayed on a display device 41 such as a display at a later date if necessary.
Be able to reconfirm the presence or absence of defects as many times as possible.

When a defect is confirmed, the image of the defective portion is printed by a printing device 42 such as a video printer and used in a report or the like. The defect location is
Perform welding again to repair.

It should be noted that the present invention is not limited to only the above-described embodiment, and it is needless to say that various changes can be made without departing from the spirit of the present invention.

[0040]

As described above, according to the reactor pressure vessel inner cladding inspection apparatus of the present invention, an excellent effect that defects such as peeling of a clad weld can be found during welding can be obtained. .

[Brief description of the drawings]

FIG. 1 is a schematic side view of an example of an embodiment of the present invention.

FIG. 2 is a view taken in the direction of arrows II-II in FIG.

FIG. 3 is a control system diagram of FIG. 1;

FIG. 4 is a schematic side view of a conventional example.

FIG. 5 is a view taken in the direction of arrows VV in FIG. 4;

[Explanation of symbols]

 DESCRIPTION OF SYMBOLS 12 Pressure vessel main body 19 Welding torch 20 Welding apparatus main body 22 Cladding welding part 24 Camera for thermography 26 Video signal 27 Thermographic signal 28 Image processing apparatus 30 Position detector (circumferential position detector) 31 Position detection signal (circumferential position detection signal) ) 33 position detector (axial position detector) 34 position detection signal (axial position detection signal) 35 shooting position 36 shooting position measuring device 37 arithmetic and control unit 38 recording device 41 display device 42 printing device

──────────────────────────────────────────────────続 き Continued on the front page (51) Int.Cl. ⁶ Identification number Agency reference number FI Technical display location G01B 21/30 G01B 21/30 Z // B23K 26/00 B23K 26/00 Q

Claims (5)

[Claims] 1. A thermographic camera capable of photographing a clad weld formed by a welding torch is attached to a welding apparatus body for forming a clad weld on the inner surface of a pressure vessel body, and a video signal photographed by the thermographic camera is provided. An image processing device for converting a surface temperature of an object into a thermographic signal represented by a color distribution by image processing, and an arithmetic control device for displaying a thermographic signal from the image processing device on a display device. Reactor pressure vessel inner cladding inspection equipment. 2. An imaging position measuring device for obtaining an imaging position of a thermography camera based on a position detection signal from a position detector attached to a welding device main body. 2. The apparatus for inspecting the inner surface cladding of a reactor pressure vessel according to claim 1, wherein an imaging position from the imaging position measuring device can be additionally combined. 3. The reactor pressure vessel inner surface cladding inspection apparatus according to claim 1, wherein a recording device is connected to the arithmetic and control unit. 4. The reactor pressure vessel inner surface cladding inspection apparatus according to claim 1, wherein a printing device is connected to the arithmetic and control unit. 5. The inspection apparatus according to claim 1, wherein a printing device is connected to the recording device.