JPS61104251A - Eddy current type flaw detection apparatus for welded part - Google Patents

Abstract

PURPOSE:To easily and rapidly perform flaw detection even when a welded line is long and complicated, by parallelly providing three or more of eddy current flaw detection coils to a self-propelling chasis in the lateral direction and performing automatic steering operation on the basis of informations from the coils. CONSTITUTION:A steering apparatus 2 for altering the number of relative rotations of coils 1a, 1b and electromotors M1, M2 separately driven by the electromotors M1, M2 is provided to a chasis 1. Six eddy current flaw detection coils 3a-3f are parallelly provided to the chasis 1 in the lateral direction thereof while a transmitter 4 for informing the informations from the coils, a controller 5 for automatically operating the steering apparatus 2 on the basis of the informations from the coils and a power source 6 are mounted to the chasis 1. The controller 5 detects and judges not only the branching and intersecting of welded line but also the lateral shift of the welded line with the flaw detection apparatus on the basis of the detection of base materials A, B or a welded part c by each coil and automatically controls the steering apparatus 2 so that the flaw detection apparatus runs along the welded line. By this method, the flaw detection can be performed easily and rapidly even with respect to a long and complicated welded part.

Description

[Detailed Description of the Invention] [Field of Industrial Application] The present invention is a flaw detection method in which an eddy current is generated in a welded part and the presence or absence of defects in the welded part is inspected based on the back electromotive force generated by the eddy current to a coil. Regarding equipment.

[Conventional technology]

In the past, the only type of welding device that could be used when welding lines were complexly branched or intersecting was the porta-pull type, which was carried and moved by the operator (I cannot provide any literature).

[Problem that the invention seeks to solve]

However, when welding lines are extremely long, such as in huge tanks that store city gas, natural gas, oil, etc., problems arise in terms of work load and efficiency.

The purpose of the present invention is that even if the weld line is complex and long,
The purpose is to enable flaw detection to be performed easily and quickly.

[Means for Solving the Problems] The feature of the present invention is to provide a self-propelled vehicle body with a steering device with three
A controller for automatically operating the steering device based on information from the coils is provided, and the controller includes: (a) a center of the coils; A normal state in which the one on the side detects the welding part, and the ones on the left and right sides detect the base metal part. (c) the right side of the coil detects the base metal part, and
A left-biased state in which the center and left side coils detect the base metal; , (E) A right-branch state in which the right and center coils detect the welded part, and the left one detects the meat part; means for determining which of the above-mentioned coils the information from the coil corresponds to, based on the information from the determining means, 1111 instructing to go straight when the normal state, left branching state, right branching state and crossing state; (bl Instructs to turn left when in the above-mentioned right-hand state, te
l A steering state indicating means for instructing a right turn when the vehicle is in the left-leaning state, and an output means for automatically operating the steering device based on information from the steering state indicating means, and its operation. The effects are as follows.

[For production]

In other words, since the eddy current flaw detection coil is installed on the self-propelled vehicle body and moved along the weld line, even if the weld line is extremely long, the entire length of the weld line can be easily and quickly detected with minimal worker fatigue. I can do it.

The steering device is automatically operated by the ball and controller, and even if the weld line gently bends, branches, or intersects, or even if the self-propelled vehicle body tries to deviate from the weld line, it will be directed in the correct direction. It is possible to reliably maintain the running speed and perform good flaw detection.

〔Effect of the invention〕

As a result, even if the weld line is extremely long or complex, it has become possible to quickly detect flaws in the welded area with an extremely low workload.

By the way, in order to move the eddy current flaw detection coil along the weld line, it is possible to place marks along the weld edge in advance and install a sensor dedicated to detecting the marks for automatic steering, but marking There is a problem in that it requires a great deal of labor and time, and the cost increases due to the installation of sensors. However, according to the present invention, the weld itself is used as a mark, and the flaw detection coil is also used as a steering wheel, so it is possible to extremely effectively reduce the work burden and improve work efficiency, and to use inexpensive equipment. This makes it possible to perform flaw detection on welds with overall excellent workability and economy.

〔Example〕

Next, examples will be shown.

As shown in FIG. 1, there are crawlers (], aa on the left and right.

A crawler (1 m), (
electric motors (Ml), (Ml
), a steering device (2) for changing the relative rotational speed of the motors (M, death,
A transmitter (4) that wirelessly reports information from those coils (8a) to 8f) to a recorder;
Based on the information from a) or 8f), the steering device (2)
A controller (5) for automatically operating the Work 3
A device for detecting eddy current flaws in welding s(C) according to f) is constructed.

￥J2 As shown in the figure, the coil (3a
) or 8f) stone discrimination means (5a) for information from
, means (5b) for instructing the steering state based on information from the determining means [5a], and the steering state instructing means (
Output means (5C) for automatically operating the steering device (2) based on the information from 5b) is provided.

The determining means (5a) determines which of the following conditions (a) to 5) is present.

(a) As shown in Figure 8 (a), the two central coils /l/ (tc) and (8d) are welded @tag, and the left and right coils (8a) and (8b) are welded together. ) and (8e
), normal state where (8t) detects the base material or (B), (b)! As shown in Figure 8 (b), at least seven coils (8b) of the left side coils (8a) and (8b) touch the welding part tc+, and the two middle coils (3c)
, (3d), at least one coil (8d) on the right side and one coil (Be) on the right side, (8f) detects 1 of the base material, (c) as shown in Fig. 3 (c), At least 7 coils (8e), (8f) on the right side
C) is the welding part (C1, and one coil in the center (
3c), at least one of (8d) (8C) and 2 on the left
Coils C) (8a) and (8b) are part of the base material (
(d) As shown in Fig. 8(d), the left side coils (8a) to 8d) on the left side and center detect the welding part ICA, and the one on the right side Left branch state where the coils (3e) and (8f) detect the base material (g)), (e) As shown in Figure 3 (e), one coil (8c) on the right side and the center does not detect the base material (g). 8f) is the welding part (C1), and the left side coils (aa) and (ab) are the base metal part (
A) A right-branch state in which the welded part (C1) is detected, (f) As shown in FIG.

The steering state instructing means issues any one of the following instructions +a) to tc+.

fat Instructs to go straight when in the normal state, left branching state, right branching state, and crossing state, (bl Instructs to turn left when in the right-leaning state, 10
1 Instruct a right turn when the vehicle is in the left leaning state.

In short, even if the weld line is complex, automatic operation can be performed without any misidentification due to branching or crossing of the weld (C), and while maintaining the appropriate position with respect to the predetermined weld (C1). The structure is such that the direction is well-performed.

[Another example]

Next, another embodiment will be described.

The self-propelled vehicle body fl) may be of a wheel type, and the specific structure of the steering device (2) can be changed appropriately, for example by changing the direction of the wheels.

It is sufficient to provide three or more eddy current testing coils (3).
Furthermore, the detection state determined by the determining means (5a) may be set appropriately depending on the number of coils (3) to be disposed.

The power supply device (5) and the self-propelled vehicle body (fl) can be connected by a T-wire, or the coil (3) and the recorder can be connected by a II wire, or the recorder can be connected to the self-propelled vehicle body i.
1) may be installed.

[Brief explanation of drawings]

FIG. 1 is a schematic front view showing an embodiment of the present invention, FIG. 2 is a block diagram of a control system, and FIG. 3 (a) is a conceptual diagram of a discrimination state. (1)... Self-propelled vehicle body, (2)... Steering device, (3)... Coil, (5)...
Controller, (5a)...Discrimination means, (5b)...
...Steering state indicating means, (5c)...Output means, prisoner, CB+...Base metal part, fcl...
···welded part. Agent Patent Attorney Shudai Kitamura 1 Figure No.: (c)

Claims (1)

[Claims] Three or more eddy current flaw detection coils (3) are arranged in parallel in the width direction on a self-propelled vehicle body (1) having a steering device (2), and information from the coils (3) is provided. A controller (5) is provided for self-helping the steering device (2) based on the following: (a) The central coil (3) has a welded portion (
C) and the left and right side detect the base metal parts (A) and (B), (b) the left side of the coil (3) detects the welded part (C).
), and the center and right side detect the base metal part (B), (c) the right side of the coil (3) detects the welding part (C).
), and a left-sided state in which the center and left side detect the base metal part (A), (d) the left and center side of the coil (3) detect the welding part (C), and The one on the right side detects the base metal part (B), (e) The one on the right side and center side of the coil (3) detects the welding part (C), and the one on the left side detects the base metal part. Means for determining whether the information from the coil (3) corresponds to (A) a right-branch state in which the signal is detected, or (f) a cross state in which all of the coils (3) detect the weld (C). (5a) Based on the information from the discriminating means (5a), (a) instructs to go straight when the normal state, left branching state, right branching state, and crossing state; (b) left turn when the right-leaning state; and (c) a steering state indicating means (5b) for instructing a right turn when the steering state is in the left-leaning state, and the steering device (2) based on information from the steering state indicating means (5b). An eddy current flaw detection device for welded parts, which is equipped with an output means (5c) for automatic operation.