JPH10148630A - Ultrasonic flaw detecting device and processing device - Google Patents

Abstract

PROBLEM TO BE SOLVED: To improve efficiency in inspection and processing work by providing a copying mechanism of a simple configuration and reducing the time for attachment, detachment, and preparation, and reducing its weight. SOLUTION: This ultrasonic flaw detecting device is provided with a magnetic crawler which moves along the periphery of a nozzle and an ultrasonic probe 49 held on the magnetic crawler via a base 54 and flow detecting arm 45 and is configured to detect flows in an object by the ultrasonic probe 49 as moving the magnetic crawler along the periphery of the nozzle. In this case, the base 54 is installed rotation-freely in the direction approximately orthogonal to the direction of movement of the magnetic crawler, and the flaw detecting arm 45 is installed in the direction orthogonal to the base 54. In addition, a magnetic roller 40 is provided for the tip part of the flaw detecting arm 45 and is moved along an object surface to perform flaw detection by the magnetic attracting force of the magnetic roller 40 without a special driving mechanism for the flaw detecting arm 45.

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention is suitable for ultrasonic flaw detection following a change in the shape of, for example, a welded portion of a reactor pressure vessel body and a nozzle protruding from the body, and cutting or welding of similar parts. The present invention relates to an ultrasonic inspection device and a processing device.

[0002]

2. Description of the Related Art For example, a weld between a pressure vessel and a nozzle of a nuclear power plant is inspected by ultrasonic flaw detection during the service period. FIG. 9 is an example showing the structure of the above-mentioned container and the nozzle welding portion.

[0003] A container 1 has a nozzle corner R portion 2a, a large-diameter cylindrical portion 2b, a nozzle conical portion 2c, and a small-diameter cylindrical portion 2d.
The pipe 3 is connected via a nozzle 2 composed of the above-mentioned components. Since the container 1, the nozzle 2 and the pipe 3 are connected by welding, a range defined by a standard of a welded portion such as a welded portion 2e between the container 1 and the nozzle 2 and a welded portion 3a between the nozzle 2 and the pipe 3 is used. Is subjected to ultrasonic inspection.

FIGS. 10 and 11 show an example of a conventional temporary track traveling type ultrasonic flaw detection apparatus. FIG. 10 is a front view of the ultrasonic flaw detector, and FIG. 11 is a side view showing a state where the ultrasonic flaw detector is attached to a nozzle to perform flaw detection of a welded portion.

[0005] This type of conventional temporary track traveling type ultrasonic flaw detector is disclosed in Japanese Patent Application Laid-Open No. 58-180945 and Japanese Patent Publication No. 1-33422.
A moving body 5 running in a circumferential direction on a temporary track 4 removably attached to a pipe 3, and a guide bar extending parallel to the axis O of the nozzle 2 toward the reactor pressure vessel 1 on the moving body 5. 6, and a moving frame 8 rotatably supported by a ball screw 7 is provided, and a flaw detection arm 10 is provided on the moving frame 8 so as to be tiltably (rotatably) pressed toward the reactor pressure vessel wall surface side by an air cylinder 11; Flaw detection arm 1
An ultrasonic probe 14 is built in the probe holder 0, and a probe holder 13 that moves in the axial direction of the flaw detection arm 10 by rotating the probe holder driving ball screw 12 is provided to form a driving device.

The position of the moving frame 8 in the direction of the axis O of the nozzle 2 is determined by the amount of movement of the copying roller 9 for maintaining a constant distance from the wall of the reactor pressure vessel 1 which varies depending on the position of the nozzle 2 in the circumferential direction. It is controlled based on

The ultrasonic probe 14 is pressed against the wall surface of the reactor pressure vessel 1 by the probe pressing air cylinder 15 built in the probe holder 13 by the ultrasonic inspection apparatus configured as described above. The scanning is performed while performing ultrasonic inspection for a predetermined range.

Next, as another example of an ultrasonic inspection apparatus, a trackless type inspection using a magnetic wheel as a moving body and eliminating the need for a temporary trajectory as described in JP-A-5-40111. FIG. 12 shows an example of the apparatus.

At both ends in the longitudinal direction of the base plate 16,
The main frame 17 is rotatably mounted on an axis O ₁ parallel to the axis O of the nozzle 2, and the main magnetic wheel 18 is rolled on the main frame 17 in the circumferential direction along the large-diameter cylindrical portion 2 b of the nozzle. The main magnetic wheel 18 is mounted on the main frame 17 at right angles to the axis O of the nozzle 2 and
The auxiliary frame 19 is rotatably mounted on an axis extending in the tangential direction of the auxiliary frame 19, and the auxiliary magnetic wheel 20 is supported on the auxiliary frame 19 so as to be freely rollable in the circumferential direction along the nozzle cone 2c. Configure the driving device. The moving frame 8, the flaw detection arm 10, the probe holder 13, and the ultrasonic probe 14 having the same structure as described above are mounted on the moving body, and an ultrasonic flaw inspection in a predetermined range is performed by scanning these. .

[0010]

By the way, in the former example, the inspection work is performed as follows.

That is, before the inspection, the temporary track 4 is set at the specified position of the pipe 3, the moving body 5 is mounted on the temporary track 4, and the inspection is executed.
After that, the temporary track 4 was further removed, and this operation was repeated every time periodic inspection was performed. Further, since the diameter of the nozzle 2 differs depending on each nozzle, it is necessary to prepare a plurality of temporary trajectories 4 corresponding to the nozzle diameter at the time of this inspection.

On the other hand, in the latter example, since the magnetic wheel and the nozzle are in line contact, the utilization efficiency of the magnet is poor, the attraction force is small for the size of the magnet, and the magnetic wheel is the driving wheel. For this reason, depending on the state of the running surface, point contact occurs, and a magnetic attraction force is insufficient, and slipping occurs. Therefore, in order to prevent this, it was necessary to take measures to prevent the moving body from slipping and to prevent the inspection device from falling off.

In both cases, a copying mechanism driven by a motor is required in order to keep the distance between the wall of the reactor pressure vessel 1 and the moving frame 8 constant, which varies relatively depending on the circumferential position of the nozzle. And an air cylinder 11 for pressing the flaw detection arm 10 against the wall surface of the reactor pressure vessel 1.
This requires a flaw detection arm pressing mechanism mainly composed of an ultrasonic flaw detection device, which causes the ultrasonic flaw detection apparatus to become large and heavy.

It is to be noted that such a copying mechanism is required not only in an ultrasonic flaw detector but also in an automatic processing apparatus for automatically cutting and welding.

SUMMARY OF THE INVENTION The present invention has been made in view of such circumstances of the prior art, and an object of the present invention is to provide an ultrasonic flaw detector and a processing apparatus provided with a copying mechanism having a simple configuration.

A second object of the present invention is to provide an ultrasonic flaw detector and a processing apparatus which can eliminate the need for a cylinder type pressing mechanism, reduce the setup time and weight of the apparatus, and improve the efficiency of inspection and processing operations. To provide.

[0017]

To achieve the above object, the present invention provides a traveling device that travels along the outer circumference of a pipe,
An ultrasonic probe supported by the traveling device via a support means, and the ultrasonic probe performs flaw detection of an object by traveling the traveling device along an outer circumference of a pipe. In the apparatus, the support means supports the ultrasonic probe so as to be movable in a longitudinal direction, and an arm rotatably supported in a direction substantially perpendicular to a traveling direction of the traveling device, And a magnetic attraction means provided at a tip end side of the arm which can be moved while being attracted on the surface.

In this case, it is preferable that the arm is rotatably supported on the support means side by hinge connection, and a magnetic suction means is provided at the base end side of the arm so as to be movable on a surface to be flaw-detected. Is also good. The magnetic attraction means provided on the base end side of the arm is provided at both ends of a ring-shaped orbit formed concavely with respect to the scanning surface, and the ring-shaped orbit moves the arm along the ring-shaped orbit. It is preferable that the arm be supported by the supporting means via a slide rod so that the arm can be separated from and brought into contact with the inspection target surface. Preferably, the arm is attached to the slide rod via a hinge whose attachment angle can be changed.

Even if the magnetic attraction means is constituted by magnetic wheels and the traveling device is constituted by a track-type traveling device which travels along a track installed on the surface of the tube, the magnetic device can be magnetically attached to the surface of the tube. The trackless traveling device may be constituted by a trackless traveling device that travels by suction, and a magnetic crawler or a magnetic wheel may be applied to the trackless traveling device as a plurality of magnetic traveling devices provided with a drive mechanism.

The magnetic traveling devices including the magnetic crawlers or the magnetic wheels are arranged in a line on the attraction traveling surface, and the plurality of magnetic traveling devices exhibit a magnetic attraction force along the attraction traveling surface and smoothly. It is preferable to attach the main frame to the main frame so as to move so as to be movable. Further, a plurality of magnetic wheels are used for positioning the magnetic traveling device in the axial direction of the pipe, and further, a position mechanism and an angle adjusting mechanism are used for adjusting the positions and angles of the plurality of magnetic wheels. It is desirable to have

In addition, instead of the ultrasonic probe supported by the arm, a processing head for processing an object can be used, and a cutting device or a welding device can be applied as the processing head.

[0022]

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

In the following description, the same reference numerals are given to the same parts as those described in the above-mentioned conventional example, and the overlapping description will be omitted.

FIG. 1 is a front view showing the overall configuration of an ultrasonic flaw detector for a nozzle according to the present invention, FIG. 2 is a side view of the apparatus shown in FIG. 1, and FIG. 3 is a view taken along the line AA of FIG. FIG.

In these figures, the nozzle large-diameter cylindrical portion 2
b, a pair of magnetic crawlers 31 as a magnetic traveling device are provided on a main frame 30 as a traveling device main body extending in a tangential direction of the b.
Are attached via the plate 44 and the magnetic crawler frame 34. The plate 44 is rotatably attached to the main frame 30 by a fixing screw 39, and the mounting angle of the magnetic crawler 31 with respect to the main frame 30 is variably set. In the magnetic crawler frame 34,
A support rod 36 is provided in parallel with the central axis of the nozzle 2. The support rod 36 runs on the circumference of the nozzle cone 2 c, and has a stay 51 and a magnetic roller 37 that regulates the running direction of the magnetic crawler 31. It is provided via a frame 52.

The main frame 30 is provided with two slide rods 38 slidably movable relative to the main frame 30 in a direction parallel to the central axis O of the nozzle 2. On the side, a base 54 is rotatably mounted on a slide rod 38 via a pin 53, and a flaw detection arm 45 and an annular copying ring 42 set to be concave with respect to the outer surface of the nozzle 2 are attached to the base 54. ing. The flaw detection arm 45 includes a ball screw 46, a guide rod 55, and a probe holder 47, and a flaw detection arm suction magnetic roller 40 is provided on the end of the flaw detection arm 45 facing the pressure vessel 1. The probe holder 47 is provided with a ball nut 5 for the ball screw 46.
6. The guide rod 55 is movably supported by the bush 57 along the flaw detection arm 45, respectively.
An ultrasonic probe 49 is attached to the probe holder 47 via an air cylinder (not shown) and a gimbal mechanism (not shown). Further, a motor (not shown) and a potentiometer (not shown) are provided in the probe holder 47 so that the ultrasonic probe 49 can be rotated by a predetermined angle. The copying ring 42 includes two sets of V rollers 41.
Thus, it is rotatably held around the flaw detection arm 45, and is supported by the base 54 via the stay 58. At both ends of the copying ring 42, copying magnetic rollers 60 are provided via holders 59, respectively.

As shown in FIG. 3, the magnetic crawler frame 3
4 is provided with an arc-shaped long hole 61. The magnetic crawler frame 34 is rotatably attached to the plate 44 by the pins 32, and the magnetic crawler frame 34 is set so that the angle of the magnetic crawler frame 34 with respect to the plate 44 becomes an angle suitable for the diameter of the nozzle 2 to be inspected. Are fixed to the plate 44 by the positioning pins 33. Reference numeral 35 denotes a motor for driving the magnetic crawler 31.

Next, a description will be given of a method of mounting and operation of the ultrasonic flaw detector for a nozzle constituted as described above.

FIG. 4 is a side view showing a state in which the ultrasonic flaw detector has moved in the circumferential direction of the nozzle from the state shown in FIG. 2, FIG. 5 is a view taken along the line BB of FIG. 2, and FIG. C-C arrow view,
FIG. 7 is a front view showing a state in which the ultrasonic flaw detector according to the present invention is applied to a nozzle having a small nominal diameter, and FIG.
FIG.

When attaching the ultrasonic flaw detector to the nozzle 2 to be inspected, first, the magnetic crawler 31 is attracted to the large-diameter cylindrical portion 2b at the top of the nozzle 2, and the magnetic roller is attached to the conical portion 2c of the nozzle. 37 is adsorbed. Next, a slide rod 38 slidably supported by the main frame 30 is slid toward the wall of the reactor pressure vessel 1, and a pin 53 and a base 5 are attached to the tip of the slide rod 38.
Flaw detection arm 4 that is tiltably (rotatably) connected via
5 is inclined toward the wall of the reactor pressure vessel 1 so that the magnetic roller 40 for attracting the inspection arm at the upper end of the flaw detection arm 45 and the two magnetic rollers 60 for copying that are located at both ends of the copying ring 42 are attracted to the wall of the reactor pressure vessel 1. .

The ultrasonic flaw detector installed as described above moves the ultrasonic probe 49 to the reactor pressure vessel 1 by the extension operation of the air cylinder (not shown) in the probe holder 47.
Press it to the required position on the wall. Large diameter cylindrical part 2b of nozzle
Slightly move the magnetic crawler 31 installed in the peripheral direction,
The probe holder 47 installed on the flaw detection arm 45 is reciprocally driven in the axial direction of the flaw detection arm 45 by a range necessary for inspection,
By repeating this operation, the reactor pressure vessel 1
And an ultrasonic flaw inspection of the welded portion 2e of the nozzle 2 is performed.

In addition to the scanning pattern described above, the magnetic crawler 31 installed on the large-diameter cylindrical portion 2b of the nozzle is rotated in the circumferential direction, and the probe holder 47 installed on the flaw detection arm 45 is rotated.
Is slightly moved in the axial direction of the flaw detection arm 45, and this operation is repeated, whereby the reactor pressure vessel 1 and the nozzle 2
It is also possible to carry out an ultrasonic inspection for a required range of the welded portion 2e.

The ultrasonic probe 49 can rotate in the probe holder 47 by driving a motor (not shown), and can change the incident direction of the ultrasonic wave.

The magnetic crawler 31 is driven by a motor 35, and the entire flaw detector moves in the circumferential direction of the nozzle, and its position is determined by an encoder (not shown) connected to the motor 35 via a gear (not shown). Is measured by The probe holder 47 moves along the flaw detection arm 45 by rotating the ball screw 46 by a motor (not shown) provided in the main frame 30. The position of the probe holder 47 is measured by an encoder (not shown) connected to a motor (not shown) via a gear (not shown).

As the ultrasonic flaw detector moves from the top of the nozzle 2 along the circumferential direction of the nozzle 2, the angle formed between the nozzle 2 and the reactor pressure vessel 1 as shown in FIG. In the cross section including L and the axis of the nozzle 2, the angle between the axis of the nozzle 2 and the tangent at the intersection of the perpendicular drawn from the tip of the flaw detection arm 45 to the outline of the reactor pressure vessel 1 and the outline changes. The nozzle 2 and the reactor pressure vessel 1
Are both cylindrical, the nozzle 2 and the reactor pressure vessel 1
The line of intersection changes in a saddle shape in the axial direction of the nozzle 2 (radial direction of the reactor pressure vessel 1) depending on the position of the nozzle 2 in the circumferential direction. Therefore, the distance between the flaw detection arm 45 and the surface of the reactor pressure vessel 1 changes between the tip of the flaw detection arm 45 and the nozzle side. In order to stably press the ultrasonic probe 49 against these changes, the flaw detection arm 45 is tilted in accordance with a change in the angle between the nozzle 2 and the reactor pressure vessel 1, and the entire flaw detection arm 45 is moved as described above. It is necessary to move the nozzle 2 in the axial direction following the saddle shape change. In this ultrasonic flaw detector, the flaw detection arm 45 is movably and rotatably attached to the main frame 30 via the slide rod 38, the pin 53 and the base 54. As a result, the flaw detection arm 45 is entirely saddle-shaped because the magnetic roller 60 for copying is constantly attracted to the surface of the reactor pressure vessel 1 while the inclination thereof follows the change in the angle between the nozzle 2 and the reactor pressure vessel 1. Following the shape change, the nozzle 2 moves in the axial direction, and as a result, the ultrasonic probe 49 stably scans over the entire surface of the flaw detection arm 45 while pressing it against the surface of the reactor pressure vessel 1. be able to. Further, as described above, both the nozzle 2 and the reactor pressure vessel 1 are cylindrical, and as the ultrasonic flaw detector moves in the circumferential direction of the nozzle 2, the flaw detection arm 45 and the reactor pressure The distance from the container 1 changes. For this reason, if a fixed magnet is attached to the lower end of the flaw detection arm 45, a torsional force is applied to the flaw detection arm 45, and the apparatus cannot run smoothly on the nozzle 2. However, in the ultrasonic flaw detector according to the present embodiment, FIG.
Since the copying magnetic roller 60 is attached to the flaw detection arm 45 via the rotatable copying ring 42 as shown in FIG. Even if the distance from the pressure vessel 1 changes, no torsional force is applied to the entire device, and thereby the vehicle can run stably.

When the ultrasonic flaw detector travels in the circumferential direction of the nozzle 2, it is connected to the pressing reaction force of the ultrasonic probe 49, the unevenness of the traveling surface 2 b of the nozzle 2 of the magnetic crawler 31, or the apparatus. Due to the cables (not shown), a force may be applied to the magnetic crawler 31 in the axial direction of the nozzle 2. If the magnetic crawler 31 is set at an angle to the circumferential direction of the nozzle 2 when the first ultrasonic inspection device is attached, the device may fall off from the running surface 2b of the nozzle as the device travels. There is. Therefore, FIG.
The magnetic crawler 31 is provided with a magnetic roller 37 for restraining the traveling direction of the magnetic crawler 31 via the support rod 36, the stay 51, and the frame 52 on the magnetic crawler 31. The displacement of the magnetic crawler 31 in the running direction is restrained or corrected. In this case, the mounting angle of the frame 52 mounting portion of the stay 51 may be adjusted by a fixing screw 51a such as a bolt.

The ultrasonic flaw detector according to the present invention is also considered for application to nozzles having different nominal diameters. As shown in FIG. 1, the magnetic crawler 31 is attached to the main frame 30 via a magnetic crawler frame 34 and a plate 44 by a fixing screw 39 so that the attachment angle can be adjusted. Further, as shown in FIG. 3, the magnetic crawler 31 is held by a magnetic crawler frame 34, and the magnetic crawler frame 34 is rotatable about the pin 32 with respect to the plate 44 within the range of the elongated hole 61. 33 fixed. For this reason, by changing the angle of the plate 44 with respect to the main frame 33 and the angle of the magnetic crawler frame 34 with respect to the plate 44 according to the nominal diameter of the nozzle to be applied, it is possible to apply the nozzle to various nominal diameters. If the nominal diameter of the nozzle is extremely large or extremely small,
As shown in FIG. 7, the present apparatus can be applied by replacing the plate 44 with the size of the nozzle.

FIG. 8 is a front view of a main part showing a running state of the magnetic crawler 31 on the nozzle large-diameter cylindrical portion 2b. In the ultrasonic flaw detector according to the present embodiment, the magnetic crawler 31 has a structure in which magnet pieces are connected on a loop. By providing a known guide rail and a suspension mechanism (not shown) on the magnetic crawler 31, during the traveling, the magnet at the rear end of the magnet pieces adsorbed on the traveling surface is peeled off almost simultaneously with the leading edge. A new magnet piece can be attracted, and a greater attraction force can be obtained compared to the magnetic wheel method, and the magnetic crawler does not come off due to the condition of the running surface or the position (angle) of the device on the nozzle.

As described above, according to the present embodiment, the following effects can be obtained.

1. The magnetic crawler has a structure in which magnet pieces are connected on a loop, and the running is almost the same as removing the last magnet from the magnet pieces adsorbed on the running surface, and at the same time, a new magnetic piece Is a method of adsorbing. Therefore, the many magnet pieces adsorbed during this time do not move while being adsorbed. For this reason, slippage due to rotation does not occur unlike magnetic wheels. In addition, the attraction with the running surface is a surface contact, and a larger magnetic attraction force is obtained as compared with the line contact of the magnetic wheels, so that stable magnetic attraction traveling is possible regardless of the state of the running surface.

2. The flaw detection arm is pressed against the reactor pressure vessel wall by suction using magnetic rollers installed at the upper and lower ends of the flaw detection arm, and the lower magnetic roller is attached to a scanning ring rotatably supported by the flaw detection arm.
The flaw detection arm has a mechanism that slides in parallel with the nozzle axis direction. The flaw detection arm follows the change in the inclination and the distance between the flaw detection arm and the reactor pressure vessel wall, which change according to the circumferential position of the nozzle, and performs ultrasonic detection. Scanning the stylus eliminates the need for the conventional temporary trajectory, flaw detection arm copying mechanism, and flaw detection arm pressing mechanism, greatly reducing the number of parts in the device, drastically reducing the weight of the device, and improving the efficiency of flaw detection work. It becomes possible.

3. By adjusting the mounting angle of the plate supporting the magnetic crawler and the angle of the magnetic crawler with respect to the plate, or by replacing the plate with one having a size corresponding to the diameter of the nozzle, a single device can change from a small diameter nozzle to a large diameter nozzle. Inspection can be performed up to the nozzle.

In this embodiment, the arm is set as a flaw detection arm 45 and supports the ultrasonic probe 49 so as to be slidable, but the same configuration is used for a cutting device or a welding device using plasma. Is also applicable to
In such a case, if the so-called probe head is replaced with a processing head for performing these processings, it is possible to sufficiently function as a processing apparatus as it is.

As a magnetic traveling device, a magnetic crawler is more preferable than a magnetic wheel in terms of a contact area and a generated magnetic attraction force. However, depending on a pipe diameter or a shape of a target member, a magnetic crawler is preferable. It goes without saying that a magnetic wheel will work satisfactorily instead.

In this embodiment, the magnetic roller 40 is provided at the distal end of the flaw detection arm 45, and the base end is rotatably held at the end of the slide rod 38, so that the outer surface of the container 1 to be flawed can be detected. , The distance from the surface of the probe 49 can always be maintained at a predetermined angle (for example, parallel) to the flaw detection surface by the probe holder 47. If the above condition is satisfied, or if the processing head can maintain a certain angle in processing, it is needless to say that the base end may be directly rotatably mounted on the base 54.

Further, in the present embodiment, a trackless ultrasonic flaw detector is taken as an example, but it goes without saying that the copying apparatus itself can be applied to a track flaw detector.

[0047]

As is apparent from the above description, according to the present invention, the copying mechanism can be formed with a simple structure, and the flaw detection or processing can be performed by following the surface shape of the member surface having a continuous curved surface. It is possible to provide an ultrasonic flaw detection device and a processing device capable of performing the above.

Further, by using a magnetic attraction mechanism, a copying mechanism that does not require a pressing mechanism using a cylinder can be realized, so that the time and weight for setting up and removing the device can be reduced, and the efficiency of inspection and processing operations can be improved. It is possible to provide an ultrasonic flaw detection device and a processing device capable of achieving the above.

Further, the simplification of the copying mechanism reduces the weight of the apparatus by greatly reducing the number of parts of the apparatus, and shortens the time for attaching and detaching the apparatus, thereby reducing the radiation equivalent received by the operator in the ultrasonic inspection work. The efficiency of flaw detection work can be improved.

[Brief description of the drawings]

FIG. 1 is a front view showing an overall configuration of an ultrasonic flaw detector according to an embodiment of the present invention.

FIG. 2 is a view taken along the line AA of FIG. 1;

FIG. 3 is a front view showing a magnetic crawler support of the ultrasonic flaw detector according to the embodiment.

FIG. 4 is a side view showing a copying operation of a flaw detection arm of the ultrasonic flaw detection device of FIG. 1;

FIG. 5 is a view of the copying ring and the copying magnetic roller according to the embodiment taken along line BB in FIG. 2;

FIG. 6 is a diagram illustrating a magnetic crawler and a magnetic crawler traveling restraining magnetic roller according to an embodiment of the present invention.
FIG.

FIG. 7 is a front view showing an example in which the ultrasonic flaw detector according to the embodiment is applied to nozzles having different diameters.

FIG. 8 is a diagram showing a running state of a magnetic crawler of the ultrasonic flaw detector according to the embodiment.

FIG. 9 is a diagram showing the structure of a reactor pressure vessel to be inspected and a nozzle weld.

FIG. 10 is a front view of a conventional orbital inspection apparatus that performs ultrasonic inspection.

FIG. 11 is a side view of FIG. 10;

FIG. 12 is a schematic view of the structure of a trackless inspection device that performs a conventional ultrasonic inspection.

[Explanation of symbols]

 REFERENCE SIGNS LIST 1 reactor pressure vessel 2 nozzle 3 piping 30 main frame 31 magnetic crawler 32 support pin 33 positioning pin 34 magnetic crawler frame 35 magnetic crawler drive motor 36 support rod 37 magnetic roller 38 slide rod 40 magnetic roller 41 flaw detection arm V roller 42 copying Ring 44 Plate 45 Flaw detection arm 46 Ball screw 47 Probe holder 49 Ultrasonic probe 51 Stay 52 Frame 53 Pin 54 Base 55 Guide rod 56 Ball nut 57 Bush 58 Stay 59 Holder 60 Copying magnetic roller 61 Long hole

 ──────────────────────────────────────────────────続 き Continuing on the front page (72) Inventor Yoichi Ichiki 3-2-1 Sachimachi, Hitachi-shi, Ibaraki Pref. Hitachi Engineering Co., Ltd. Hitachi Engineering Co., Ltd. (2-1) 3-2-1, Hitachi Engineering Co., Ltd. (72) Inventor Hiroshi Kimura 3-2-1, Sakaimachi, Hitachi City, Ibaraki Prefecture, Hitachi Engineering Co., Ltd.

Claims (15)

[Claims] A traveling device traveling along an outer periphery of a pipe;
An ultrasonic probe supported by the traveling device via a support means, and the ultrasonic probe performs flaw detection of an object by traveling the traveling device along an outer circumference of a pipe. In the apparatus, the supporting means is provided on an arm rotatably supported in a direction substantially perpendicular to the traveling direction of the traveling device, and on a tip side of the arm moving while adsorbing on a surface to be inspected. An ultrasonic flaw detector comprising a magnetically attracted means provided. 2. The ultrasonic flaw detector according to claim 1, wherein the arm is rotatably supported on the support means side by a hinge connection. 3. The ultrasonic flaw detector according to claim 1, further comprising a magnetic attraction means provided at a base end side of the arm so as to be movable on a flaw detection target surface. 4. A magnetic attraction means provided on a base end side of the arm is provided at both ends of a ring-shaped orbit formed concavely with respect to a scanning surface, and the arm is movable along the ring-shaped orbit. 4. The ultrasonic support apparatus according to claim 3, wherein the arm is supported and the arm is supported by the support means via a slide rod so as to be able to be separated from and brought into contact with the surface to be inspected. 5. The ultrasonic flaw detector according to claim 4, wherein the arm is attached to the slide rod via a hinge whose attachment angle can be changed. 6. The ultrasonic flaw detector according to claim 1, wherein said magnetic attraction means comprises a magnetic wheel. 7. The ultrasonic flaw detector according to claim 1, wherein the traveling device comprises a track-type traveling device that travels along a track installed on the surface of the pipe. 8. The ultrasonic flaw detector according to claim 1, wherein the traveling device comprises a trackless traveling device that travels while being magnetically attracted to the surface of the pipe. 9. The ultrasonic flaw detector according to claim 5, wherein the trackless traveling device that travels while being magnetically attracted comprises a plurality of magnetic traveling devices provided with a drive mechanism. 10. The magnetic traveling device is arranged in a line on a suction traveling surface, and the plurality of magnetic traveling devices are variably attached to a main frame so as to move along the adsorption traveling surface. The ultrasonic flaw detector according to claim 9, characterized in that: 11. A magnetic driving device comprising: a plurality of magnetic wheels for positioning the magnetic traveling device in the axial direction of the tube; and a mechanism for adjusting the positions and angles of the plurality of magnetic wheels. The ultrasonic flaw detector according to claim 9. 12. The ultrasonic flaw detector according to claim 9, wherein the magnetic traveling device comprises one of a magnetic crawler and a magnetic wheel. 13. The processing apparatus according to claim 1, wherein a processing head for processing an object is used instead of the ultrasonic probe. 14. The processing apparatus according to claim 13, wherein said processing head comprises a cutting apparatus. 15. The processing apparatus according to claim 13, wherein said processing head comprises a welding apparatus.