JPH10288610A - Surface traveling flaw detecting device of large steel structure - Google Patents

Abstract

PROBLEM TO BE SOLVED: To perform the fully automatic flaw detection of welds in a high- temperature large steel structure such as a blast furnace, an air heating furnace with no scaffolds and to perform the fully automatic grinding prior to flaw detecting operation, flaw detection, and the repainting of parts on which flaw detection is performed by one carriage. SOLUTION: The magnetic wheel 2 (2a and 2a' (2b and 2b') of a traveling struck A is formed of a ring-shaped magnet 4 provided around the outer peripheral surface of a wheel 3 of non-magnetic material and a wheel 6 of ferromagnetic material in which a heatproof lining 5 is formed on the outer peripheral surface sandwiching the ring-shaped magnet 4. In addition, a driving mechanism to drive the magnetic wheel 2 is formed of a drive motor 7 arranged to the frame 1 of the traveling carriage A via a low heat-conductivity material and a low heat-conductivity shaft coupling to couple the drive motor 7 and a driving shaft. An ultrasonic flaw detecting device C, and grinding device, and painting device are mounted on such a traveling truck A.

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a surface traveling type flaw detector for a large structure, such as a blast furnace hot blast stove, for automatically detecting a welded portion of a large, high-temperature steel structure. is there.

[0002]

2. Description of the Related Art For example, in a large steel structure such as a hot blast furnace having a surface temperature of about 180.degree. It is necessary to check the safety and conduct partial repairs as necessary to ensure safety.

In order to detect flaws in such a large steel structure, a scaffold has been conventionally installed on a high place, and an operator has to grind the work on the scaffold to remove paint near a welded portion to be flawed. We performed flaw detection work of the welded part with the probe and painting work after flaw detection.

[0004] Therefore, in the flaw detection work, a great deal of time and labor is required for erection and removal of a scaffold at a high place.
Since the work was performed at a high place, there were many problems in efficiency.

[0005]

Therefore, various studies have been made on an automatic flaw detection apparatus for automatically detecting a flaw in a welded portion of a large-sized steel structure, for example, Japanese Patent Publication No. Hei 5-14868. Has a fixed arm pivotally and undulatingly mounted on a self-propelled trolley, assembling a telescopic arm movably in the axial direction with the fixed arm, and a holder having a probe supported at the tip of the telescopic arm. A device that automatically performs flaw detection by moving the bogie while attaching the probe to the flaw detection point by making the probe expand and contract and raise and lower the arm. (Referred to as prior art).

However, in the prior art, a steel structure having a surface temperature of about 180 ° C., such as a blast furnace hot air stove, has no heat resistance and has no cracks existing at the welded portion. It is impossible to run over such protrusions, and furthermore, grind it to remove paint and rust etc. near the welded part required before performing flaw detection work, and near the welded part performed after flaw detection. Repainting or the like must be performed by another means, and therefore, automation including these operations cannot be performed.

SUMMARY OF THE INVENTION Accordingly, an object of the present invention is to solve the above-mentioned problems and to detect flaws in a weld of a large steel structure by using a steel structure having a high surface temperature of about 180 ° C., such as a blast furnace hot stove. Again, this can be done automatically without erection of scaffolding.In addition, a grinder for removing paint and rust etc. near the welded part necessary before flaw detection work, and near the welded part after flaw detection It is an object of the present invention to provide a surface traveling type flaw detector for a large steel structure, which can automatically perform repainting and the like on a single bogie.

[0008]

According to a first aspect of the present invention, there is provided a surface traveling type flaw detection apparatus which performs flaw detection by adsorbing onto a surface of a large steel structure by a traveling cart having magnetic wheels. In the magnetic wheel, a wheel made of non-magnetic material, a ring-shaped magnet provided on the outer peripheral surface of the wheel, and a heat-resistant lining layer is formed on the outer peripheral surface provided with the ring-shaped magnet interposed therebetween. And a driving mechanism for driving the magnetic wheels,
A drive shaft connected to the wheel, a drive motor installed on the frame of the traveling bogie via a heat-transmissive material,
It is characterized in that the drive motor and the drive shaft are connected to each other by a heat-transmissible shaft coupling.

According to a second aspect of the present invention, in the flaw detector according to the first aspect, the traveling carriage having the magnetic wheels is provided with a reciprocating mechanism capable of repeatedly reciprocating and a reciprocating portion of the reciprocating mechanism. An elevating mechanism installed at a lower end of the elevating mechanism, a two-axis swing mechanism capable of swinging about two axes in a reciprocating direction and a direction perpendicular to the reciprocating direction, respectively, and the two-axis An ultrasonic probe holder that can swing around two axes, which is installed on the swing mechanism, and
An ultrasonic flaw detector including an ultrasonic probe installed on the ultrasonic probe holder is mounted, and the ultrasonic probe holder supplies a flaw detection liquid to a flaw detection part side. It is characterized in that a flaw detection liquid supply path is provided.

According to a third aspect of the present invention, in the flaw detector according to the first or second aspect, the traveling carriage having the magnetic wheels is provided with a reciprocating mechanism capable of repeatedly reciprocating;
A lifting and lowering mechanism installed at a reciprocating portion of the reciprocating mechanism, and a grinder device including a grinding mechanism installed at a lower end of the lifting and lowering mechanism for grinding a surface to be inspected is mounted. Have

According to a fourth aspect of the present invention, in the flaw detector according to the first aspect, the traveling bogie having the magnetic wheels has a tank rotatably mounted on a mounting shaft provided upright on a frame of the traveling bogie. And a coating device including an eccentric weight provided in the tank, a discharge path for discharging the paint in the tank from the eccentric weight side, and a spray mechanism for the paint in the tank. It is characterized by the following.

[0012]

Next, an apparatus according to the present invention will be described with reference to the drawings. 1 to 3 are schematic perspective views showing one embodiment of the apparatus of the present invention. As shown in FIG. 1, the surface traveling type flaw detector of the present invention adsorbs on the surface of a large steel structure and runs by itself along a weld, removing paint near the flaw to be detected, flaw detection of a weld, and It consists of a traveling vehicle A that sequentially performs repainting near the welded portion after the flaw detection.

As shown in a plan view in FIG. 4, the traveling vehicle A is provided on the lower surface of a rectangular bottom plate 1 which is horizontally long in the traveling direction, with four sets of magnetic wheels 2a, having an aspect ratio of 1: 2. 2a ′,
2b and 2b 'are attached. One set of magnetic wheels is composed of two wheels, and each magnetic wheel 2 is provided on a wheel 3 made of a non-magnetic material such as aluminum and an outer peripheral surface of the wheel 3 as shown in FIG. Two ring-shaped permanent magnets 4 and two heat-resistant lining layers 5 such as fluoro rubber formed on the outer peripheral surface, which are provided with the ring-shaped permanent magnets 4 interposed therebetween and have a slightly larger diameter than the ring-shaped permanent magnets 4. It consists of wheels 6 made of ferromagnetic material.

On the outer peripheral surface of the wheel 6 made of a ferromagnetic material, a number of irregularities are formed by knurling in order to increase the adhesive strength with the heat-resistant lining layer 5. Such a magnetic wheel 2 has a diameter (e.g., 120 mm) sufficient for the traveling vehicle A to be able to get over a protrusion, such as a snapping portion, present on the surface of the structure.

As shown in FIG. 1, the traveling vehicle A is provided with a drive mechanism for driving the magnetic wheels 2. The drive mechanism includes drive motors 7 and 7 ′ mounted on the frame 1 of the traveling vehicle A via a heat transfer member, a drive shaft connected to the wheel 3 of the magnetic wheels 2, and drive motors 7 and 7 ′. And a shaft joint with poor heat transfer that connects the drive shaft and the drive shaft.

One motor 7 drives and rotates magnetic wheels 2a, 2a 'on one side in the width direction of the frame 1, and the other motor 7' drives magnetic wheels 2b, 2b, 2 on the other side in the width direction of the frame 1.
2b 'is driven and rotated. Magnetic wheels 2a, 2a ', 2b, 2
The drive of b 'is remotely controlled by a control device 42 installed on the ground as shown in FIG. 1, and the traveling vehicle A travels in any direction on the surface of the steel structure.

When the traveling vehicle A travels on the surface of the steel structure for grinding, flaw detection and repainting, the heat-resistant lining layer 5 formed on the outer peripheral surface of the ferromagnetic material wheel 6 is formed.
Contacts the surface of the steel structure. The drive motors 7, 7 'of the traveling carriage A are mounted on the frame 1 of the carriage via a heat-resistant transmission member, and the drive motors 7, 7' and the drive shaft are connected via a heat-transmittable shaft joint. Therefore, there is no problem even if the surface of the steel structure to be inspected is at a high temperature, and the traveling vehicle A has an attractive force by the ring-shaped permanent magnet 4 and a coefficient of friction by the heat-resistant lining layer 5. The increase ensures that the steel structure is adsorbed on the surface of the steel structure and can travel without damage to the coating film. Further, since the traveling vehicle A is a four-wheel drive, the steering performance is good, and the traveling direction of the vehicle A can be arbitrarily changed by changing the rotation speed of the wheels 2a, 2a 'and 2b, 2b'. .

The grinder device B is mounted on the rear part of the frame 1 of the traveling vehicle A as shown in a schematic perspective view in FIG. 2, a schematic front view in FIG. 6, and a sectional view taken along the line AA in FIG. A horizontally long frame 8 detachably attached by bolts in a width direction perpendicular to the traveling direction of the trolley, a main shaft 11 provided to be reciprocally movable on the horizontally long frame 8 by a reciprocating mechanism, and a reciprocating portion of the main shaft 11. An air cylinder 16 as an elevating mechanism provided;
6 and two grinders 9 as grinding mechanisms for grinding and removing the surface to be inspected. The grinder 9 is mounted on a mounting table 10 fixed to the lower end of the main shaft 11 by a pin so as to be variable in mounting angle.

The two grinders 9 may be arranged facing each other in a C shape as shown in FIG. 2, or may be arranged in parallel with each other as shown in FIG. As shown in the perspective views of the horizontal frame portion in FIGS. 7 and 8 and the schematic perspective view of the grinder main shaft portion in FIG. 9, a slide block rail 12 is attached to the horizontal frame 8 as a reciprocating mechanism in the length direction. An endless moving belt 13 that reciprocates by a drive mechanism (not shown) is provided so as to surround the slide block rail 12. on the other hand,
A support base 15 to which a grooved slide block 14 is fixed is attached to the main shaft 11 to which the grinder 9 is attached. The groove of the slide block 14 is fitted to a slide block rail 12 of the horizontally long frame 8. and,
The upper surface of the support 15 is fixed to the endless moving belt 13.

The endless moving belt 13 attached to the horizontally long frame 8 is reciprocated by the reciprocating mechanism having the above-described structure, and the grinder 9 mounted on the mounting base 10 at the lower end of the main shaft 11 is slid on the support base 15. Block 1
By reciprocating with the slide block rail 12 as a guide through 4, the paint and rust near the welded portion are removed.

The two grinders 9 can be attached to either the upper side or the lower side of the endless moving belt 13 via the main shaft 11 or the upper and lower sides of the endless moving belt 13. , May be attached one by one.

As shown in the front views of FIGS. 1 and 10, the flaw detector C is a horizontally long frame which is detachably attached to a rear portion of the frame 1 of the traveling vehicle A by bolts in a width direction perpendicular to the traveling direction of the vehicle. 8, two probe supports 17 provided on the horizontally long frame 8 by a reciprocating mechanism so as to be able to reciprocate repeatedly, and an air cylinder 25 provided as an elevating mechanism provided on a reciprocating portion of the probe support 17.
An ultrasonic probe holder 18 installed below the air cylinder 25 and capable of swinging around two axes in a reciprocating direction and a direction perpendicular to the reciprocating direction, respectively, and an ultrasonic probe holder 18 And an ultrasonic probe 19 attached to the device.

FIG. 11 is a plan view of the probe holder.
As shown by the arrow A in FIG. 11 in FIG. 12, the ultrasonic probe holder 18 includes a support mounting frame 20 rotatably mounted on the probe support 17 and a support mounting frame 20. A support frame 21 for the ultrasonic probe 19 is attached to the shaft 20 so as to be swingable. Therefore, the ultrasonic probe holder 18
The trolley A can swing in the direction of movement and in the direction perpendicular to the direction of movement.

The support frame 21 is provided with a supply hole 22 for supplying a flaw detection liquid to the flaw detection portion side, and the flaw detection liquid supply hole 22 is provided on a tank 36 shown in FIG.
Supply hose 23 is connected. A roller 24 is attached to the lower surface of the support frame 21.

As shown in the sectional view of FIG. 13, a tank 36 for storing the flaw detection liquid has a piston 36 having an O-ring 38 attached to the outer peripheral surface thereof in a tank 36a having a compressed air supply port 37 provided on the bottom surface thereof. 39 are provided. Tank 36
A fixed pressure is applied to the flaw detection liquid supplied on the piston 39 in a by the piston action of the compressed air from the compressed air supply port 37. Therefore, by operating the valve 40, the flaw detection liquid is discharged from the discharge port 41, passes through the supply hose 23, and is discharged from the flaw detection liquid supply hole 22 of the support frame 21 to which the ultrasonic probe 19 is attached. Such a flaw detection liquid storage tank 36 is provided on the ground,
May be installed on the bottom plate 1.

The reciprocating mechanism of the probe support 17 is the same as the reciprocating mechanism of the above-described grinder apparatus B, and the endless moving belt 1 attached to the horizontally long frame 8 is used.
3 is reciprocated by a drive mechanism (not shown), whereby the two probe supports 17 are guided by the slide rails 12 to reciprocate in the horizontally long frame 8, and are attached to the lower ends of the probe supports 17. The ultrasonic probe 19 attached by the frame 20 and the support frame 21 continuously performs the flaw detection of the welded portion.

The coating apparatus D is shown in FIGS. 3 and 14.
A paint spray mechanism having a paint box 26 to which a paint spray nozzle 27 is attached, and a paint storage tank 31 shown in FIG.
It consists of

The paint spraying mechanism is a frame 1 of the traveling vehicle A.
In addition, a paint box 26 having an open lower surface removably attached in a width direction orthogonal to the traveling direction of the trolley, and a paint spray nozzle 27 attached to the upper surface 26a of the paint box 26 for repainting the vicinity of the weld portion. And the side surface 26b of the paint box 26
And a water spray nozzle 28 attached to the bogie frame 1. The water spray nozzle 28 is attached to the rear of the bogie frame 1 so as to be detachable by an attachment base 29 and vertically movable by an air cylinder 30.

As shown in a schematic sectional view in FIG. 15, the paint storage tank 31 is rotatably mounted on a mounting shaft 33 provided on the frame 1 of the traveling vehicle A. Tank 31
The eccentric weight 34 is attached to the, and a paint discharge port 35 for discharging the paint in the tank from the eccentric weight 34 side.
Is provided.

In coating, the above-mentioned paint storage tank and the paint spray mechanism are mounted on the frame 1 of the truck A, and the paint in the paint storage tank is sprayed on the flaw-detected portion by the spray mechanism. At this time, as shown in a schematic side view in FIG. 15, the paint tank 31 is attached so as to be rotatable around a shaft 33 provided on the frame 1 of the truck A, and is provided on a side below the tank 31. Since the weight 34 is provided, the posture is such that the paint outlet 35 is always in a fixed direction by the weight 34 regardless of the posture of the bogie A on the curved surface of the steel structure. Controlled automatically.

Next, the operation of the device of the present invention will be described.
At the time of flaw detection of a large steel structure, first, a grinder device B is attached to the traveling trolley A, and then the traveling trolley A is caused to travel along the welding line, and the vicinity of the weld is painted by the grinder 9 provided in the grinder device B. , Rust, etc. are removed.

Next, after the flaw detection device C is attached to the traveling vehicle A, the traveling vehicle A is caused to travel along the welding line, and the flaw detection device C applies a flaw detection liquid such as glycerin from the couplant supply hole 22 to the welding line. Ultrasonic probe 1 while supplying
9 is used for flaw detection. The flaw detection results are sent to the signal processing device 43 installed on the ground shown in FIG. 1 and analyzed. 1m
Marking for flaw detection position recognition is performed at a stop location for each flaw detection data stock by a marking device (not shown).

When a surface of a steel structure such as a blast furnace hot air stove is subjected to ultrasonic flaw detection, it is necessary to correct the refraction angle of the ultrasonic wave oscillated from the ultrasonic probe 19 according to the surface temperature. is there. FIG. 17 is an example of a flow chart for such automatic correction of the ultrasonic refraction angle, in which a thermometer is installed on the traveling vehicle A, and the average value of the surface temperature of the steel structure measured thereby , The refraction angle is automatically corrected.

After the flaw detection is performed in this manner, the coating device D is attached to the traveling vehicle A, and the traveling vehicle A is caused to travel along the welding line, and the water sprayed from the water spray nozzle 28 of the coating device D is applied. After cleaning the vicinity of the painted portion, the paint is sprayed from the paint spray nozzle 27 and repainted.

As described above, according to the apparatus of the present invention, one traveling cart A can automatically and automatically perform the painting, the removal of rust and the like, the flaw detection, and the repainting near the welded portion. In carrying out these operations, the traveling bogie A comes into contact with the surface of the steel structure because the heat-resistant lining layer 5 such as heat-resistant fluoro rubber provided on the outer periphery of the steel disk 6 of the magnetic wheel 2 comes into contact with the surface. , Even if the surface of the steel structure is hot,
Due to the increase of the attraction force by the ring-shaped permanent magnet 4 and the increase of the friction coefficient by the heat-resistant lining layer 5, the vehicle is surely adsorbed on the surface of the steel structure and travels, and the damage of the coating film of the carriage traveling portion is prevented and the efficiency is improved Inspection work can be performed.

As shown in FIG. 16, when the grinder device B is attached to the front end of the traveling vehicle A in the traveling direction and the ultrasonic flaw detector C is attached to the rear end side of the traveling vehicle A, the traveling vehicle A can detect flaws. Surface grinding and ultrasonic testing can be performed simultaneously.

[0037]

As described above, according to the present invention,
Flaw detection of welds of large steel structures can be automatically performed without building a scaffold even for steel structures where the surface temperature is as high as about 180 ° C, such as a blast furnace hot stove.
In addition, a grinder for removing paint or rust near the welds required before the flaw detection work, and repainting near the welds performed after the flaw detection can be fully automatically performed by one bogie. An industrially useful effect is provided.

[Brief description of the drawings]

FIG. 1 is a schematic perspective view of a traveling vehicle to which a flaw detection device of the present invention is attached.

FIG. 2 is a schematic front view of a grinder device mounted on the traveling vehicle according to the present invention.

FIG. 3 is a schematic perspective view of a coating device mounted on the traveling vehicle according to the present invention.

FIG. 4 is a schematic plan view of the traveling vehicle.

FIG. 5 is a side view of magnetic wheels of the traveling vehicle.

FIG. 6 is a schematic front view of a grinder device attached to the traveling vehicle according to the present invention.

FIG. 7 is a sectional view taken along line AA of FIG. 6;

FIG. 8 is an exploded perspective view showing a reciprocating mechanism of the grinder.

FIG. 9 is a schematic perspective view showing a vertical movement mechanism of the grinder.

FIG. 10 is a schematic front view of a flaw detection device attached to the traveling vehicle according to the present invention.

FIG. 11 is a plan view of a probe holder part in the flaw detector.

FIG. 12 is a view as viewed in the direction of arrow A in FIG. 11;

FIG. 13 is a cross-sectional view of the couplant supply device.

FIG. 14 is a side view of the coating apparatus mounted on the traveling vehicle according to the present invention.

FIG. 15 is a side view showing a tank mounting portion of the coating apparatus.

FIG. 16 is a schematic perspective view of a flaw detector equipped with a grinder apparatus and an ultrasonic flaw detector.

FIG. 17 is an example of a flowchart for automatically correcting an ultrasonic refraction angle.

[Explanation of symbols]

 Reference Signs List A traveling cart B grinder device C flaw detection device D coating device 1 frame 2 magnetic wheel 3 non-magnetic material wheel 4 ring-shaped permanent magnet 5 heat-resistant lining layer 6 wheel 7 motor 8 frame 9 grinder 10 mounting stand 11 spindle 12 slide block rail 13 endless Moving belt 14 Slide block 15 Support piece 16 Air cylinder 17 Probe support 18 Probe holder 19 Ultrasonic probe 20 Support mounting frame 21 Support frame 22 Flaw detection liquid supply hole 23 Hose 24 Roller 25 Air cylinder 26 Painting Box 27 Paint spray nozzle 28 Water spray nozzle 29 Mounting stand 30 Air cylinder 31 Paint tank 32 Axis 33 Axis 34 Weight 35 Paint outlet 36 Flaw detection liquid supply tank 37 Compressed air supply port 38 O-ring 39 Piston 40 Valve 41 Discharge port 42 Control device 43 Signal processing device

 ──────────────────────────────────────────────────続 き Continued on the front page (72) Inventor Tomoaki Sato 1-2-1, Marunouchi, Chiyoda-ku, Tokyo Inside Nihon Kokan Co., Ltd. (72) Koji Yamada 1-2-1, Marunouchi, Chiyoda-ku, Tokyo Inside Nippon Kokan Co., Ltd. (72) Inventor Toyoyoshi Kimura 14-1187, Ikutsucho, Kumo, Tsu, Mie Prefecture Inside Japan Techno Mate Co., Ltd. (72) Inventor Takumi Takumi 14 -1187 Inside Japan Techno Mate Co., Ltd.

Claims (4)

[Claims] 1. A surface traveling type flaw detector which performs flaw detection by adsorbing onto a surface of a large steel structure by a traveling carriage having magnetic wheels, wherein the magnetic wheel comprises a non-magnetic material wheel, A ring-shaped magnet provided on the outer peripheral surface of the wheel, and a wheel made of a ferromagnetic material having a heat-resistant lining layer formed on the outer peripheral surface provided with the ring-shaped magnet interposed therebetween; and A drive shaft connected to the wheel, a drive motor installed on the frame of the traveling vehicle via a heat transferable material, and a heat-resistant connecting the drive motor and the drive shaft. A surface traveling type flaw detector for large steel structures, characterized by comprising a transmissible shaft coupling. 2. A traveling vehicle having the magnetic wheels includes a reciprocating mechanism that can be repeatedly reciprocated, an elevating mechanism installed in a reciprocating unit of the reciprocating mechanism, and a lower end of the elevating mechanism. A two-axis swing mechanism that can swing around two axes in a reciprocating direction and a direction perpendicular to the reciprocating direction, and a two-axis swing mechanism installed on the two-axis swing mechanism that can swing around two axes. Ultrasonic probe holder, and, equipped with an ultrasonic flaw detector having an ultrasonic probe installed in the ultrasonic probe holder, the ultrasonic probe holder, The surface traveling type flaw detection apparatus according to claim 1, wherein a flaw detection liquid supply path for supplying a flaw detection liquid is provided on the flaw detection part side. 3. A traveling carriage having the magnetic wheels, a reciprocating mechanism that can be repeatedly reciprocated, an elevating mechanism installed in a reciprocating unit of the reciprocating mechanism, and an elevating mechanism installed at a lower end of the elevating mechanism. The surface traveling type flaw detector according to claim 1 or 2, further comprising a grinder device comprising a grinding mechanism for grinding the surface to be flawed. 4. A traveling bogie having magnetic wheels, a tank rotatably mounted on a mounting shaft erected on a frame thereof, an eccentric weight provided in the tank, and the eccentric weight. A discharge path for discharging the paint in the tank from the side,
The surface traveling type flaw detector according to claim 1, further comprising a coating device including a paint spray mechanism in the tank.