JPH11304772A - Device for inspecting internal surface of cylindrical barrel - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide a device for inspecting internal surface of cylindrical barrel which can be accurately and relatively easily moved to a prescribed inspecting position, in a cylindrical structure which is not easily accessible by human beings through remote control, regardless of the material of the cylindrical structure at the time of inspecting the structure from its internal surface side. SOLUTION: A device for inspecting internal surface of cylindrical barrel is provided with an inspecting section 10 which inspects a structure having a cylindrical barrel through the internal surface WA of the barrel, a bendable guide rail section 30 which guides the inspecting section 10 to a prescribed position in the cylindrical barrel, and a controller 80 which remotely controls the bending motion of the guide rail section 30 in accordance with the curvature of the internal surface WA. A movable arm 40 is extended from the inspecting section 10 and a sensor section 50 for inspection is attached to the front end section of the arm 40. The guide rail section 30 can be bent by shortening the distance between both ends of the section 30 by operating a wire 13 and its winding mechanism 14. A bendable rack 18 is attached to the guide rail section 30 and the inspecting section 10 can be moved through the rack 18.

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a device for inspecting the inner wall surface of a cylindrical body, such as a device for inspecting the integrity of a welded portion and its vicinity near the inner wall surface of a cylindrical structure.

[0002]

2. Description of the Related Art When examining the soundness of a welded portion of a cylindrical or spherical structure that is difficult for humans to access and the vicinity thereof, a device or system that can remotely access the target portion is required. . For example, there is known an inspection apparatus in which a rail is installed in the vicinity of a location to be inspected and a device main body is guided along the rail. If it is difficult to permanently install rails due to structural restrictions, or if there are many welds that are inspection points and it is not possible to install rails that cover all of them, it can be absorbed to the wall as a countermeasure Trackless trackers using magnet wheels have also been adopted.

[0003]

However, in the above-described magnet wheel, the inspection device is slippery, so that accurate positioning is difficult, or cannot be used depending on the material of the structure. For example, there is a problem that it cannot be applied to a structure made of a nonmagnetic material such as austenitic stainless steel.

As a countermeasure, particularly in the case of a non-magnetic structure, the contents existing inside the structure are removed to secure an environment accessible to a person, and then a person actually enters the place to perform various inspections. Or an inspection such as remotely inspecting only the surface within a range accessible to a person using an underwater TV camera or the like. However, the operation of removing the contents is complicated, and it is not possible to carry out various inspections easily and in detail compared to the remote operation described above. This problem is particularly conspicuous when the contents include liquid. Was.

[0005] The present invention has been made in view of such conventional circumstances, and when inspecting a cylindrical structure that is difficult for humans to access from the inner wall side, regardless of the material of the structure. It is a first object of the present invention to provide an inspection apparatus which can relatively easily and accurately access a predetermined inspection position by remote control without remote control.

The present invention also provides a simple and detailed method for performing various inspections without removing the liquid inside the structure.
The purpose of.

[0007]

To achieve the above object, an apparatus for inspecting an inner wall surface of a cylindrical body according to the present invention inspects a structure having a cylindrical body via an inner wall surface in the cylindrical body. An inspection unit for guiding the inspection unit to a predetermined position in the cylindrical body, and a means for remotely controlling the bending movement of the guide rail according to the curvature of the inner wall surface. And characterized in that: This eliminates the need to prepare individual guide rails according to the curvature of the inner wall surface in the cylindrical body, and allows relatively easy and accurate access to a predetermined inspection position by remote control regardless of the material of the structure. .

According to a second aspect of the present invention, there is provided an apparatus for inspecting an inner wall surface of a cylindrical body, comprising: an inspecting section for inspecting a structure having the cylindrical body through an inner wall surface inside the cylindrical body; A guide rail portion that guides to a predetermined position in the cylindrical body, wherein the inspection section is formed in a structure that can be attached to the guide rail portion after the guide rail portion is inserted and fixed in the cylindrical body. It is characterized by having. That is, in this case, the inspection device is separated into a guide rail portion and an inspection portion, and the cross-sectional area thereof is configured to be sufficiently small so that the guide rail portion is inserted into the structure during the inspection,
After being fixed to the wall surface, the guide rail portion has a curvature, and then the guide rail portion can be attached with an inspection portion, so that the inspection device can sufficiently pass even if the access route to the inner surface of the structure is narrow. .

According to a third aspect of the present invention, the guide rail portion is made of a highly elastic material that can be bent at an arbitrary curvature by an external force.

[0010] The invention according to claim 4 is characterized in that the guide rail portion is provided with a mechanism for freely reducing a distance between both ends thereof and freely bending the guide rail portion. By reducing the distance between both ends of the guide rail by this mechanism, it is possible to give a curvature to the guide rail portion.

According to the fifth aspect of the present invention, the guide rail portion has the highest spring coefficient at the central portion so as to form a predetermined arc when it is bent, and gradually extends toward each of both end portions from the center. It is set to be lower.

According to a sixth aspect of the present invention, the guide rail portion is provided with a suction mechanism that can be suctioned to an inner wall surface in the cylindrical body. Thereby, the inspection device can be fixed to the wall surface of the structure without the support means.

[0013] In the invention described in claim 7, the guide rail portion is provided with a detector for detecting a distance between the guide rail portion and an inner wall surface in the cylindrical body, and the guide rail portion is connected to the inner wall surface based on a detection signal from the detector. Means for controlling the distance between the guide rail and the center of the guide rail so as to be equal to both ends thereof.

[0014] In the invention described in claim 8, the suction mechanism portion is provided with means capable of moving between the inner wall surface of the cylindrical body and the suction mechanism. This enables precise alignment after digging and continuous inspection while moving to an arbitrary position.

According to a ninth aspect of the present invention, the guide rail portion includes a propulsion mechanism that can freely access a wall surface inside the cylindrical body. Examples of the propulsion mechanism include a fluid ejection or a screw. By this propulsion mechanism, even if there is no support device for approaching a special wall surface, it can approach the wall surface alone and can be fixed by suction.

According to a tenth aspect of the present invention, the guide rail portion is made of a shape memory alloy. Thus, the curvature of the apparatus can be easily matched to the wall surface only by a heating means such as a heater without the need for a special guide rail bending means.

According to an eleventh aspect of the present invention, the guide rail portion is provided with a flexible and freely bendable rack for guiding the inspection portion. Thereby, the inspection unit can be moved with high accuracy.

According to a twelfth aspect of the present invention, the inspection section has a clamp mechanism which can be freely attached to and detached from the guide rail section. As a result, since the inspection unit is detachable from the guide rail by the clamp mechanism, by separately handling the guide rail and the inspection unit, it becomes easy to insert the device from a narrow access route, If necessary, it is possible to remotely handle only the inspection unit.

According to a thirteenth aspect of the present invention, the inspection unit includes a welding portion detection sensor for performing positioning with respect to a predetermined welding line in the cylindrical body.

[0020] In the invention according to claim 14, the inspection section is provided with a visual inspection (VT) near the welding portion detection sensor.
Is provided. As a result, even if the excess of the welded portion is removed and the welding position is not apparent from the appearance, the VT of the welded portion can be accurately performed.

According to a fifteenth aspect of the present invention, the inspection section is provided with a peening device in the immediate vicinity of the welding portion detection sensor and the TV camera. By incorporating a peening device close to the weld detection sensor and TV camera, VT can be checked for soundness, and at the same time, peening is performed to improve the surface stress of the heat-affected zone of the weld to compression to improve SCC resistance. it can.

According to a sixteenth aspect of the present invention, the weld detection sensor is a sensor for measuring a ferrite content using a magnetic induction method. By using this sensor, it is possible to detect gamma ferrite precipitated in the welded portion and confirm the boundary between the base material portion and the welded portion.

According to a seventeenth aspect of the present invention, the sensor for measuring the ferrite content includes means for detecting a martensite structure generated by surface work hardening during peening of the structure. . Thus, by measuring the peening portion again with this sensor after peening, the martensite structure generated by surface work hardening accompanying peening can be detected, and the peening range can be confirmed.

In the invention according to claim 18, the welding detection sensor generates a longitudinal ultrasonic wave (creeping wave) capable of propagating through a material surface layer of the structure and receives the ultrasonic receiving signal. An ultrasonic probe, and a boundary between a base material portion and a welded portion of the structure based on an irregularly reflected noise signal due to coarse crystal grains of a welded portion in the structure in an ultrasonic reception signal of the ultrasonic probe. And means for analyzing.

In the invention according to claim 19, the position of the welded portion is confirmed using a creeping wave by the ultrasonic probe, and the SC which can be generated in the heat-affected zone of the welded portion is confirmed.
It is characterized by further comprising means for inspecting the presence or absence of C.

According to a twentieth aspect of the present invention, the weld detection sensor is an eddy current detection sensor using an electromagnetic induction method. By detecting the change in the magnetic permeability and the electrical conductivity in the welded portion by the eddy current detection sensor, the boundary between the base material portion and the welded portion can be confirmed.

According to the twenty-first aspect of the present invention, the position of the welded portion of the structure is confirmed based on the detection signal from the eddy current detection sensor, and the presence or absence of a defect that can be generated in the surface layer near the welded portion is inspected. It is characterized by further comprising means.

According to a twenty-second aspect of the present invention, the inspection section is provided with a processing tool capable of removing or repairing a defective portion of the structure. If this processing tool is mounted, even if a defect is found by inspection, the soundness of the structure can be secured by replacing the inspection part with the processing tool and removing or repairing this part.

According to a twenty-third aspect of the present invention, the guide rail portion includes a level sensor for detecting tilt angle information with respect to an inner wall surface in the cylindrical body, and an inner portion of the cylindrical body based on a detection signal from the level sensor. It is characterized in that a means for correcting an inclination angle with respect to a wall surface is provided. This allows
The guide rail can be fixed to the structure wall without tilting.

According to a twenty-fourth aspect of the present invention, there is further provided a means for correcting an inclination angle of the guide rail with respect to a weld of the structure based on a detection signal from the weld detection sensor. Thus, even if the inspection device is attached at an angle to the welded portion, flaw detection can be performed while correcting this.

According to the above invention, for example, when confirming the soundness near the welded portion from the inner wall surface of the cylindrical structure, the guide rail portion and the inspection portion are individually accessed at the upper part of the structure. The guide rail can be automatically and remotely controlled so that it is suspended from the inside of the guide rail, and the curvature of the guide rail is made to coincide with the curvature of the guide rail while being sucked to the inner wall surface. Therefore, it is possible to mount the inspection device even with a narrow access rod, and it is not necessary to prepare a plurality of guide rails by adjusting the curvature of the inner wall surface of the cylindrical body for each structure. There is an advantage that it can correspond to a structure having

When a liquid is held inside the structure, an inspection device is suspended from the access rod above the structure, and is approached to the wall surface while checking horizontal or vertical with a level sensor. The guide rail is curved by operating the part and adsorbing it on the wall surface for inspection, and thereafter reducing the distance between both ends of the guide rail part.
At this time, at least three portions at the center and both ends of the guide rail are provided.
Since the points contact the wall surface at an equal distance, the guide rail portion can have a curvature corresponding to the curvature of the inner surface of the structure.

Further, the inspection section is fixed on the guide rail section adsorbed on the wall surface of the structure by remote control, and the inspection section is moved along the guide rail section, so that the VT or the like can be applied to the welding section and the vicinity. Conduct non-destructive inspection of UT etc.
There is also an advantage that the soundness of the structure can be confirmed by accurately inspecting for the presence of a defect such as a crack, and the safety of the structure can be improved.

[0034]

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS Hereinafter, a specific embodiment of a cylindrical trunk inner wall surface inspection apparatus according to the present invention will be described with reference to the drawings.

The apparatus for inspecting the inner wall surface of a cylindrical body shown in FIG. 1 performs an inspection and inspection of a welded portion of the inner wall surface WA and the vicinity thereof on a structure having a cylindrical body such as a cylindrical or spherical container. It is applied to That is, the inspection apparatus includes a guide rail section 10 whose curvature can be freely changed, an inspection section 30 which drives various sensors (described later) while moving along the guide rail section 10, and both of them. And a controller 80 for automatically and remotely controlling the driving of the motor 30 (reference numeral 90 in the figure denotes a guide rope). The inspection unit 30 includes the guide rail unit 10.
An arm 40 is movably extended from the main body, and an inspection sensor 50 is disposed at a distal end of the arm 40.

As shown in FIGS. 2 to 4, the guide rail portion 10 includes a bendable rail 11 made of a highly elastic material,
Holding plates 12 are provided at both ends of the rail 11 in the running (longitudinal) direction. Of these,
A wire 13 and a winding mechanism 14 for reducing the distance between both ends of the rail 11 are attached to the holding plates 12 and 12.

As shown in FIGS. 2 and 3, the rail 11 incorporates a rack 18 for running the inspection unit 30 along the longitudinal direction at the center in the width direction on the front side. The rack 18 is made of a material that can be flexibly bent. Further, as shown in FIG. 4, the rails 11 have suction plates 15, 15 for fixing the guide rail portions 11 to both ends on the rear side thereof, and the suction plates 15, 15 are kept adsorbed on the wall surface Wa. Drive wheels 16 that allow movement,
16 are provided. Further, a detector 17 is attached to the center of the rear side of the rail 11 so as to make the distance to the wall surface WA coincide with the center of the rail 11 and both ends. There are no particular restrictions on the locations and numbers of these suction disks 15, drive wheels 16, and detectors 17, and they are different from those shown, for example, in order to further stabilize the guide rail unit 10. May be provided, or the number thereof may be increased.

Further, a rack 18 which can be flexibly bent to precisely drive the inspection unit 30 is provided on the rail 11.
Is incorporated. Further, the holding plate 12 has a propulsion mechanism 19 such as a fluid ejection mechanism or a screw mechanism for moving the guide rail portion 10 from the suspended state in the liquid.
And a level sensor 20 for measuring the inclination of the guide rail portion 10 with respect to the wall surface.

Here, a method of attaching the guide rail portion 10 to the wall surface WA will be described.

First, when inspecting a cylindrical or spherical container or the like, the guide rail portion 10 is suspended from the upper access port and inserted into the liquid while the liquid is held inside the container. The inclination of the portion 10 is checked by the level sensor 20 and the guide rail portion 10 is made horizontal or vertical by operating the guide lobe 90 in accordance with the welding portion to be inspected.

Therefore, the propulsion mechanism 19 is operated to move the guide rail 10 to the wall surface WA, and then the suction pump 15 is driven by a vacuum pump (not shown) installed outside.
And is adsorbed on the wall surface WA. At this time, as shown in FIG. 5A, the rail 11 is still in a linear state (the rail 11 shown in FIG. 5A).
Between the length L1 and the distance L2 between both ends (L1 = L
2)), to adjust the curvature to the curvature of the wall surface WA, the wire winding mechanism 14 is operated to pull the wire 13 as shown in FIG. Also reduces the distance L2 between both ends (L
1> L2), the rail 11 is bent. At this time, the rail 11 is smoothly and smoothly curved because the hard disk suction plate 15 slides while generating suction force on the wall surface WA.

In such a bending operation of the rail 11, since the elastic coefficient is changed for each part of the rail 11, the detector 17 arranged at the center of the rail 11 comes into contact with the wall surface WA while always maintaining an arc shape. Implemented until Detector 17
Is in contact with the wall surface WA, the wire winding mechanism 14 is stopped by the operation of the limit switch 21 (see FIG. 3) disposed at the end of the wall surface WA.
Is held on the wall surface WA in a state of matching the curvature.

Here, the guide rail section 10 is not limited to a means for reducing the distance between both ends of the rail 11 such as a wire winding mechanism 14, but the rail 11 itself is formed using a shape memory alloy, and this is formed by a heater. And the like, it may be curved on an arc by a heating means.

Thereafter, the inspection unit 30 is installed on the guide rail unit 10 adsorbed on the wall surface WA by remote control. The configuration of the inspection unit 30 and a method of positioning and installing the inspection unit 30 will be described with reference to FIGS.

The inspection section 30 includes four guide rollers 31... 31 having a V-shaped groove 31a as shown in FIGS.
At the four corners of the rectangle, and the lower side (see FIG. 6) 2
As shown in FIG. 8, each of the guide rollers 31, 31 is configured to be vertically movable by an air cylinder 33 as a clamp mechanism 32.

Then, the inspection section 30 itself is moved closer to the rail 11 by operating the cable, and the upper two guide rollers 3 are moved.
1 and 31 are engaged with one edge of the rail 11 and then the air cylinder 33 is operated to lower the lower guide roller 3.
The inspection unit 30 is clamped and fixed to the rail 11 by pulling up the first and 31 and engaging the other edge of the rail 11 (reference numeral 45 in FIG. 6 denotes a linear guide, and reference numeral 46 denotes a clamp detection limit switch). ). At this time, the gear 35 of the horizontal movement motor 34 meshes with the rack 18 of the rail 11 at the same time as shown in FIG.
0 is movable horizontally with respect to the welding line. At this time, since the rail 11 is wide, it does not bend due to the weight of the inspection unit 30.

A vertical guide rack 41 is mounted on the arm 40 of the inspection section 30.
1 meshes with a gear 37 of a vertical movement motor 36 arranged on the inspection unit 30. This arm 40 is used for the inspection unit 3
The inspection unit 30 is fixed movably in the vertical direction with respect to the inspection unit 30 by a guide 38 arranged on the zero.

By driving the two motors arranged in the inspection unit 30, namely, the horizontal movement motor 34 and the vertical movement motor 36, the inspection sensor unit 50 is fixed at a fixed position near the welded portion along the guide rail 10. Arbitrary positioning within the area range and inspection for this area are possible.

In order to carry out the actual inspection, first, after the installation of the apparatus on the inner wall surface WA of the cylindrical body is completed as described above, the limit limit switch 3 arranged in the inspection section 30 as shown in FIG.
Remote controller 8 based on the detection signal from
By operation 0, the inspection unit 30 is once moved to the end of the rail 11, and then the arm 40 on the inspection unit 30 is moved to the end of the drive range. Thereafter, the inspection sensor unit 50 is moved in a rectangular shape within a range to be inspected by a sequential or manual operation from the controller 80, and an inspection is performed within a certain area of the device installation site. If a suspicious portion is confirmed by flaw detection using the inspection sensor unit 50, the inspection sensor unit 5 is manually operated by the controller 80 at that location.
Move 0 to confirm details.

In this case, the inspection can be performed for a fixed area range corresponding to the movable range of the installed rail 11. Therefore, in order to proceed with the inspection along the welding line subsequently, it is necessary to replace the guide rail portion 10, but once the guide rail portion 10 is removed, the guide rope 90 is operated and the positioning is performed only by the propulsion mechanism 19. It is difficult to do the work accurately.

Then, the position adjustment and the movement after the suction are performed on the wall surface WA by the driving wheels 16... 16 attached to the guide rail portion 10, and this operation is remotely controlled by the controller 80, so that the wall surface WA is temporarily controlled. The device for inspecting the inner surface of the cylindrical body that has been attracted to the wall can be moved to an arbitrary position on the wall surface WA. Therefore, even after the inspection for a fixed area range is performed, the drive wheel 16 can be moved to the adjacent position without being removed from the wall surface WA by the operation of the drive wheel 16, so that the continuous inspection can be performed continuously by performing the inspection continuously. Becomes

In this embodiment, the positioning of the cylindrical body inner wall surface inspection device to the inspection position is performed while confirming the positional relationship by a monitoring device or the like installed separately. In the case where the weld overlay as a positioning target is removed due to reasons such as improvement in the efficiency of the joint or processing convenience, and it becomes difficult to accurately position the apparatus, for example, the following configuration is used as the inspection sensor unit 50. You may.

The inspection sensor unit 50 shown in FIGS. 9 and 10
Is a welding part detection sensor 51, a TV camera 52,
3. Ultrasonic testing probe 54 and peening device 55
Even if there is no appropriate target by detecting the difference between the structure of the base material portion of the structure and the structure of the welded portion by the welded portion sensor 51 and accurately recognizing the boundary position thereof, Device positioning can be performed accurately. At the same time, since the TV camera 52 is installed at the same level as the weld detection sensor 51, a visual inspection can be accurately performed on the weld and its heat-affected zone that are difficult to identify in appearance.

Further, since the ultrasonic inspection probe 54 is arranged based on the level of the weld detection sensor 51, it is possible to perform an accurate inspection in a range that covers not only the surface but also the entire plate thickness. Furthermore, since the peening device 55 is incorporated in accordance with the level of the weld detection sensor 51, peening is performed on the heat affected zone, which is in a tensile stress state by welding, and the surface stress is modified into compression. It is also possible to improve SCC resistance while confirming soundness.

Various objects can be applied to the welding portion detection sensor 51 described above.

(1) For example, when a ferrite content measuring sensor using a magnetic induction method for detecting γ ferrite precipitated in an austenitic stainless steel weld is applied as the weld detection sensor 51, the weld boundary is determined. ± 1
In addition to the fact that it can be detected with an accuracy of mm, the martensitized structure can be detected after peening, and the peening execution range can be confirmed.

(2) When an ultrasonic probe that generates longitudinal ultrasonic waves (creeping waves) propagating in the surface layer of the material is used instead of the ferrite content measuring sensor, the weld portion becomes coarse. The welding boundary can be recognized by capturing the irregularly reflected ultrasonic signal from the crystallized crystal grains. In this case, although the detection accuracy of the boundary portion is lower than that of the ferrite content measurement sensor, other ultrasonic inspection equipment can perform a surface layer inspection that is not good at the same time, and it occurs in the heat affected zone simultaneously with the detection of the welding boundary portion. There is also an advantage that it is possible to confirm the presence or absence of a possible SCC and to confirm the presence or absence of a defect in the surface layer portion in the welded portion.

(3) When an eddy current detection sensor is used as the weld detection sensor 51, even when the material is a nickel-base alloy material and γ ferrite does not precipitate in the weld, the welding boundary can be detected with high accuracy and creeping can be performed. As with the wave sensor, there is an advantage that a defect generated in the surface layer can be detected simultaneously with the detection of the welding boundary.

When a defect is confirmed by the inspection by the cylindrical inner wall surface inspection device, it is necessary to repair the defect. If the defect is present particularly in the surface layer, the guide rail portion according to the present invention is used. A configuration in which 10 is used for processing as it is becomes possible. An example of this is shown in FIGS.

FIGS. 11 and 12 show the inspection sensor unit 50.
5 shows a case where a grinder tool for shaving a defective portion or the like, that is, a tool for processing the grinder 60 and the grindstone 61 is attached. 13 and 14 show a case where a welding device with a batch holding function for closing a defect as a processing tool, that is, a welding torch 65, a torch turning mechanism 66, a patch holder hitting 67, and a patch 68 are attached.

For example, after the inspection is completed, only the inspection unit 30 is removed, a grinder tool is attached in place of the inspection sensor 50 of the inspection unit 30, and a defective portion is scraped off by the processing tool, or a welding device with a batch holding function is used. The tool can be used to close the defect by welding the batch against the part. Such an access of the processing tool is accurately performed based on the defect position information of the apparatus confirmed by the inspection, and as a result, there is an advantage that the defect can be removed or repaired quickly and easily.

[0062]

As described above, according to the present invention,
By freely bending the guide rails to the inner wall surface of the structure having the cylindrical body in accordance with the curvature, the positioning can be performed more accurately by approaching the inner wall surface, and the device can be adjusted according to the curvature of the inner wall surface. Can be moved continuously. As a result, even if there is a change in the curvature of the structure, it can be handled by a single device.For example, the soundness can be confirmed by continuously approaching and conducting detailed inspections underwater remote work, and the cylindrical structure can be confirmed. Can further contribute to safety improvement.

[Brief description of the drawings]

FIG. 1 is a schematic perspective view showing an entire configuration of a cylindrical body inner wall surface inspection apparatus according to the present invention.

FIG. 2 is a schematic front view showing the structure of a guide rail.

FIG. 3 is a schematic plan view showing the structure of a guide rail unit.

FIG. 4 is a schematic rear view showing the structure of a guide rail.

5A and 5B are diagrams for explaining the principle of rail bending of the guide rail portion, wherein FIG. 5A is a diagram illustrating a straight line state before bending, and FIG.

FIG. 6 is a schematic front view showing the structure of an inspection unit.

FIG. 7 is a schematic side view showing the structure of the inspection unit.

FIG. 8 is a schematic diagram showing a clamp structure of the inspection unit.

FIG. 9 is a schematic plan view showing the structure of the inspection sensor unit.

FIG. 10 is a schematic side view showing the structure of an inspection sensor unit.

FIG. 11 is a schematic plan view illustrating the structure of a grinder tool.

FIG. 12 is a schematic side view illustrating the structure of a grinder tool.

FIG. 13 is a schematic plan view illustrating a batch holding function welding apparatus.

FIG. 14 is a schematic side view illustrating a batch holding function welding apparatus.

[Explanation of symbols]

 DESCRIPTION OF SYMBOLS 10 Guide rail part 11 Rail 12 Holding plate 13 Wire 15 Suction disk 16 Drive wheel 17 Detector 18 Rack 19 Propulsion mechanism 20 Level sensor 21 Limit switch 30 Inspection unit 31 Guide roller 32 Clamp mechanism 33 Air cylinder 34 Horizontal movement motor 35 Gear 36 Motor for vertical movement 37 Gear 38 Guide 39 Limit limit switch 40 Arm 41 Vertical guide rack 45 Linear guide 46 Clamp detection limit switch 50 Inspection sensor unit 51 Welding part detection sensor 52 TV camera 53 Illumination unit 54 Ultrasonic flaw detection Child 55 Peening device 56 Batch 60 Grinder 65 Welding torch 66 Torch turning mechanism 67 Patch holder 68 Patch 80 Controller 90 Guide rope

Claims (24)

[Claims] 1. An inspection section for inspecting a structure having a cylindrical body through an inner wall surface in the cylindrical body, and a guide rail section capable of guiding the inspection section to a predetermined position in the cylindrical body. A means for remotely controlling the bending movement of the guide rail portion in accordance with the curvature of the inner wall surface. 2. An inspection section for inspecting a structure having a cylindrical body through an inner wall surface inside the cylindrical body, and a guide rail section which can guide the inspection section to a predetermined position in the cylindrical body. Wherein the inspection section is formed in a structure capable of being attached to the guide rail section after the guide rail section has been inserted and fixed in the cylindrical barrel section. 3. The method according to claim 1, wherein
The said rail guide part was comprised by the highly elastic material which can be bent with arbitrary curvatures by an external force, The cylindrical trunk inner wall surface inspection apparatus characterized by the above-mentioned. 4. The invention according to claim 1 or 2,
A cylindrical barrel inner wall surface inspection apparatus, comprising: a mechanism for freely reducing a distance between both ends of the guide rail portion and freely bending the guide rail portion. 5. The method according to claim 1, wherein
The guide rail portion is characterized in that its spring coefficient is set to be highest in the central portion so as to form a predetermined arc state when curved, and is set so as to gradually decrease from there toward each of both end portions. Inspection device for cylindrical inner wall. 6. The invention according to claim 1 or 2,
The cylindrical rail inner wall surface inspection apparatus, wherein the guide rail unit includes an adsorption mechanism unit that can adsorb to an inner wall surface inside the cylindrical drum. 7. The method according to claim 1, wherein
The guide rail portion is a detector for detecting a distance between the inner wall surface of the cylindrical body and a distance between the inner wall surface and a center portion of the guide rail portion based on a detection signal from the detector. A cylindrical body inner wall surface inspection apparatus, comprising: means for controlling so as to coincide with both ends. 8. The inner wall surface of a cylindrical body according to claim 6, wherein the suction mechanism includes a unit capable of moving while being suctioned to an inner wall surface in the cylindrical body. Inspection equipment. 9. The invention according to claim 1 or 2,
The cylindrical rail inner wall surface inspection apparatus, wherein the guide rail portion includes a propulsion mechanism that can freely access a wall surface inside the cylindrical shell. 10. The cylindrical body inner wall surface inspection apparatus according to claim 1, wherein the guide rail is made of a shape memory alloy. 11. The cylindrical body inner wall surface inspection apparatus according to claim 1, wherein the guide rail portion includes a flexible and freely bendable rack for guiding the inspection portion. 12. The inspection apparatus according to claim 1, wherein the inspection unit includes a clamp mechanism that can be freely attached to and detached from the guide rail unit. Cylindrical inner wall inspection device. 13. The cylindrical body inner wall surface according to claim 12, wherein the inspection section includes a welded part detection sensor for performing positioning with respect to a predetermined welding line in the cylindrical body. Inspection equipment. 14. The cylindrical body inner wall surface inspection according to claim 13, wherein the inspection unit includes a TV camera for performing a visual inspection (VT) immediately near the welding portion detection sensor. apparatus. 15. The cylindrical body inner wall surface inspection apparatus according to claim 14, wherein the inspection unit includes a peening device in the immediate vicinity of the welding part detection sensor and the TV camera. 16. An apparatus according to claim 13, wherein said weld detection sensor is a sensor for measuring a ferrite content using a magnetic induction method. 17. The sensor according to claim 16, wherein the sensor for measuring the ferrite content includes means for detecting a martensite structure generated by surface work hardening during peening of the structure. Inspection equipment for cylindrical inner wall. 18. The invention according to claim 13, wherein the welding portion detection sensor generates a longitudinal ultrasonic wave (creeping wave) capable of propagating through a material surface layer of the structure, and outputs the ultrasonic receiving signal. The ultrasonic probe receives the ultrasonic probe, based on the irregular reflection noise signal due to the coarse crystal grains of the welded portion in the structure in the ultrasonic reception signal by the ultrasonic probe, the base material portion of the structure and the welded portion A cylindrical body inner wall surface inspection apparatus, further comprising means for analyzing a boundary portion. 19. The invention according to claim 18, wherein the position of said welded portion is confirmed by using a creeping wave by said ultrasonic probe, and the presence or absence of SCC which can be generated in a heat affected zone of said welded portion is determined. An apparatus for inspecting an inner wall surface of a cylindrical body, further comprising means for inspecting. 20. An apparatus according to claim 13, wherein said weld detection sensor is an eddy current flaw detection sensor using an electromagnetic induction method. 21. The invention according to claim 20, wherein a position of a welded portion of the structure is confirmed based on a detection signal from the eddy current detection sensor, and presence or absence of a defect that can be generated in a surface portion near the welded portion is determined. An apparatus for inspecting an inner wall surface of a cylindrical body, further comprising means for inspecting. 22. The apparatus according to claim 2, wherein the inspection unit includes a processing tool capable of removing or repairing a defective portion of the structure. 23. The invention according to claim 2, wherein the guide rail portion includes a level sensor for detecting tilt angle information with respect to an inner wall surface in the cylindrical body, and the guide rail inside the cylindrical body based on a detection signal from the level sensor. A device for inspecting an inner wall surface of a cylindrical body, comprising means for correcting an inclination angle between the inner wall surface and the inner wall surface of the cylindrical body. 24. The invention according to claim 13, further comprising means for correcting an inclination angle of said guide rail portion with respect to a welded portion of said structure based on a detection signal from said welded portion detection sensor. Inspection device for cylindrical inner wall.