JPS5917151A - Controlling method of ultrasonic flaw detection and driving device - Google Patents

Abstract

PURPOSE:To prevent an increase in the scale of a driving device and to prevent a flaw detection position from being limited, by connecting the driving device and its controller together through copper wire cables and optical cables. CONSTITUTION:For example, a ultrasonic flaw detection and driving device performs automatic flaw detection at the weld zone 3 between the main body 1 and nozzle part 2 of the pressure vessel of a nuclear power station. The driving device consists of an annular track 4 fitted to the nozzle, a main body 5, and an arm 6 and performs the ultrasonic flaw detection while scanning a probe 7 in an X and an Y direction. In this case, a Z shaft is provided for pressing the probe 7 against the pressure vessel body 3; the Z shaft is driven by a solenoid and an X and an Y shaft are driven by a DC motor. The controller 12 for controlling the driving device is installed in a control room outside of the nuclear reactor containment vessel 11 and connected to driving devices 4-6 through cables 7- 10.

Description

DETAILED DESCRIPTION OF THE INVENTION The present invention relates to an ultrasonic flaw detection drive device, and the cable thickness between the drive device and the control device can be increased without increasing the size of the drive device or restricting the flaw detection location. This article relates to the 1il1 force method of an ultrasonic flaw detection drive device suitable for reducing the 1il1 force.

The ultra-blind wave flaw detection +1rI+ device 4 is used to detect flaws in piping and pressure vessel welds in nuclear power plants, etc.
This is a device that automatically scans the probe along the subject. Since many flaw detection locations are narrow, the driving device and the 1ltll direction device of the ultrasonic flaw detection drive device are generally installed at separate locations fρ. In the conventional ultrasonic flaw detection drive device d, this drive@IR and the 1h11 bait j device ~
Connected via U wire (cable). However, although this method of connecting the necessary signals in parallel with electric wires has the advantage of a simple configuration, it has the disadvantage that the nearby cables are thick and clumpy. be.

The cables become thicker and heavier as the system has more axes and requires more complex movements. If the cable is thick and long, it will put a strain on the operation of the drive device, which is not desirable.

In addition, in the case of a nuclear power plant, when the flaw detection site is moved, the cable must be relocated to move the drive device, and if the cable is heavy, it will place a heavy burden on the work area.

In this way, optical communication that does not use cables was used because the connection of thick and unusable cables was disliked. Self-DTH flaw detection/stem has also been devised (IFM 1985-168548).

Additionally, communication systems using optical fiber cables, which have the advantages of being broadband, less susceptible to noise, light and thin, are beginning to be commonly used.

However, methods using optical fiber cables or spatial optical transmission are suitable for transmitting and receiving signals that do not require the transmission of force, but are not suitable for transmitting electric power that drives motors and the like. Therefore, in the ultrasonic flaw detection drive device -
C. When the drive device σ and the control device are connected only by optical fiber cable or Mochima Denba Q optical communication, in order to obtain the power to drive the drive device, it is necessary to install a battery in the drive device or to connect each axis of the drive device. It is necessary to connect the power source from the main power supply port.

However, loading batteries makes it difficult to make the drive device more compact and more compact, and there are also problems in that it is difficult to supply power from the vicinity of the test object, such as in nuclear power plants.

An object of the present invention is to provide a drive IJ+ in an ultrasonic flaw detection drive device.
The purpose is to minimize the thickness of the cable connecting the t+ device and the control device without increasing the size of the drive device or reducing the flaw detection location.

As mentioned above, when the power supply is 751m1eL near the flaw detection location such as a nuclear power plant, the ultrasonic flaw detection drive device uses optical communication such as a 9)7' fiber for the cable between the drive device 1# and the control device. , there is a necessary force I to load batteries and the like onto the drive device 1'.

On the other hand, the drive device must be made as small and lightweight as possible because it is carried by a machine to the flaw detection site and its use is not limited by interference at the flaw detection site.
Batteries, etc., volume 1. (i: There is a problem in incorporating a bulky device such as 1!j into a drive device.

Furthermore, since the cable between the drive device of the ultrasonic flaw detection device and the flaw detection device 6 is a moving cable, it needs to be stronger and have a thicker outer sheath than a fixed cable. Therefore, in a case where the number of wires is small, the ratio of the cable sheath to the cross-sectional area of the cable is low, and an increase in the number of wires has little effect on the cable thickness. In other words, even if the number of cables increases slightly, the
If it is possible to reduce the size of jl+equipment (h), it is more advantageous to make it smaller.Therefore, in the present invention, the drive device and the control device are connected by an optical fiber cable and a cable for supplying the central force.By the way, Since a drive device is generally required to operate with high precision, it is conceivable that the motors that move each axis of the drive device be continuously controlled.

In that case, the power control means (hereinafter referred to as a servo pump) that continuously changes the power applied to the motor controls a large amount of power, so it is difficult to make it compact and lightweight. Therefore,
When trying to incorporate this servo amplifier into a drive device, 1. Kaku', iU+ #lii's small size, in terms of morning bathing:,! I feel exhausted. Therefore, the servo amplifier is
It is desirable that the 1ff11 ff1il device be connected to the ff side, but a motor cable is required between the rolling equipment and the control device 4.However, this motor cable is Depending on the motor control situation, the acid ratio may be large +j
]K, so it is unsuitable for supplying power to other sensors and drive circuits.

For the above reasons, an optical fiber cable is used between the drive device and control device of the ultrasonic flaw detection drive device for information transmission that does not require power transmission. Connect the e-to +tdj with three types of cables: a copper wire cable to directly send the power signal, and an @ wire cable to supply power to the electrical components in the drive unit.
Although the i11 control method is useful in practice, the nine-wheel IPA cable requires a device that sends the status signal of the drive device 4 to the 1liU control device, and a device that sends the control signal from the control device to the drive device. becomes.

However, in the present invention, as the number of motors increases, the number of motor cables increases accordingly, so when the number of motors is large, there is a problem in that the cables become bulky and the cable thickness increases.

Therefore, we focused on the fact that it was not necessary for each motor to operate at 1 liter at the same time, and by installing a switching circuit on the drive unit side, we could share the motor cable with a monitor that does not need to operate at iσ 11 at the same time, thereby reducing the number of cables. There are control methods to reduce this.

Next, one embodiment of the present invention will be described. FIG. 1 is an explanatory diagram when a nozzle portion 2 of a pressure vessel of a nuclear power plant and a welded portion 3 of a pressure vessel main body 1 are automatically tested by an ultrasonic flaw detection drive device A. The drive device is composed of a circular track 44 attached to the nozzle, a main body 5, an arm 6, and a probe 7.
Ultrasonic flaw detection is performed while running in the XJ5 direction and the Y direction. Then push the outer probe-r-7 into the pressure vessel body 3.
There is a Z axis to attach. The Y-axis and Y-axis are driven by a DC motor.
1iJ+satt, 7° axis is driven by a solenoid
h is done. 1Il to control the drive i1+ device with mafr,
The II control device 1-12 is installed for the Ill fl river outside of the primary four-reactor containment vessel 2t11, and is connected to the drive devices 1□14-6 by cables 7-10.

・Figure 2 shows a block diagram of an ultrasonic flaw detection device d that uses the 1.11 method of the present invention. , 1 [1 to itd
+ Device~'4-6 Hi control 14iiA': 12, Mol JtJ Cape A, 7, gM Motion 'A if
A fiber cable that transmits the state of f.
lIiI4144 blue I control signal is sent) T ipa cable 9, power supply 711 cable 10 is moat wo 76. Y
Connect the shaft to Wd + V to motor 13, tacho generator 1
A tacho generator 16 is also directly connected to a motor 15 that drives Yrltllll. Since it is not necessary to move the Y-axis and the Y-axis at the same time, the motor with the driving force is selected by the IJJ conversion ll' 317 and connected to the motor river cable 7. X ll1l
tl, Y ll1lh position i#': It is detected by rotary encoders 18 and 19, respectively.

The end sensors 20 and 21 each detect the inner end of the Y axis. Further, it is operated by a solenoid 22. , each of the signals of the drive-jA1 #4 to 6 is modulated into an optical signal by the interface 24 in the drive device a, and sent to the interface 25 on the side of the device 12, which generates an optical signal 8. Ru.

These sensor signals are converted into electrical signals at the interface 25 of the 1ti11 ffMI device 12, and are sent to the controller 27- or the servo sensor 2 by inputting the four inputs.
6, 4. Conversely, the example signal is i+ill fi
The signal is modulated into an optical signal by the I/F interface 25, passed through the optical fiber cable 9, and is then demodulated into the drive interface 24 and demodulated into an electrical signal.
The switching of the switching circuit 17 and the on/off of the solenoid 22 are performed by this mountain It1. H711(+”(I)
Sa f1- le. IM 1hJ+ 4'; 1p 4-6
(7) 71. (Igj, &, -j,;+ll (
Connect the 11" inside the Ml device 1-12 to the source mounting surface 28, connect the extension cable 10 to AI, and connect the 1-drive i8I device #4.
~6 Is. , iQX ・Itl+ devices 4 to 6 contain 1l (ll+- and 1-i of the electric quadruplex cable).
f rff.

Power is supplied to each electrical component through a pressure adjustment circuit 23 that suppresses pressure fluctuations caused by changes in flow.

Now, if the Xll1llll motor is to be moved, the cut-off circuit 17 is switched to the X-axis output motor 13 side. At this time, the switching signal is transmitted from the device controller 27 to the control Ml 'N li'N interface 25, optical 7 IPA cable 9, and tiAnσ1 device housing interface 24.
The signal is sent to the switching circuit via . Next, the controller 27 sends an operation command to the servo amplifier 26. When the engine 26 receives an operation command, it applies electricity to the LC and X motors via the motor cable 7 and the switching circuit 17. When the 1F stationary lever for X rotates and V turns, the
It starts outputting pli l-E which is proportional to 1. This mountain') Moji-1, Kaku's ribs (d Indino Ace 24゛C,
1, X, etc.)゛r; Signal Kt'
1iAI SafL-rlilliinl$+1 (7 tough T--S25) Stay 1 night. 1l111l111
The port interface 25 is connected to the fiber cable 8.
Is it a tough generator that was passed through 4? +
rly+, Ki1^ke VC demodulation, Zapo Tnbu26
Feedbank to. In addition, the Y-axis position signal is sent from the rotary encoder 18 to the controller 27 via the device i# interface 24, the Noah device i# interface 24, the control device j pointer interface 25, etc. , Control 1'' - La 2a7 Riyo (from the tk lz multiplication signal, 1)' - Change the +1tJ1 operation command applied to the r pump 26. In this way, the precision of the X motor, the cable 7 for the seventh gear, and the round fiber cable 8 is controlled by the control W loop.

According to the method of the present invention, the driving device 4 of the ultrasonic detector 1, the driving device 1ii11, and the cable city j4 between the two devices
It has the effect of reducing the flaw detection/local :r;i limit and the driving device's Osugi combination without causing damage.

[Brief explanation of the drawing]

11th 1 is an explanatory diagram of the ultrasonic detection 1 drive device for the pressure vessel nozzle weld line, and Figure 2 is an explanatory diagram of the drive device for the pressure vessel nozzle weld line. Ultrasonic detection 1 easy! ,! ,i
FIG. 1 is a block diagram of a /-1[l+ device. l...IL force vessel, 2...nozzle, ;g...1F force capacity 4:fs Nozzle welding line, 4-6..., drive equipment surface, 7.1 (+...cable, 8 .9... Round fiber cable, 11... Containment vessel, 12... Control-141 device if, 13. + 5... Motor, 14° 16
...Tacho generator, 18.19...Rotary encoder, 20.21...End 7-1-1'22
... Solenoid, 23 ... Voltage i1.9 rectifier circuit, *
4.25...Internoace, 26...-Lee-boremp, 27...Ko'i ψ”JjjTy

Claims (1)

[Claims] 1. In a drive device equipped with a motor and a sensor that scans an ultrasound probe along a subject, and in a control device that remotely controls the drive device, the drive device and the cough plate If are , the copper wire cable that directly sends the gravity signal that moves the beater, and the fiber cable that sends the status signal of the drive device, 5 to the drive device! The fiber cable that sends the iris number 22, the copper wire cable that supplies power to the high-temperature parts in the drive unit d)) lP: M t7
．． A control method for an ultrasonic flaw detection drive device characterized by a length of 111 m.