JPS6113151A - Manipulator for supersonic flaw detection - Google Patents

Abstract

PURPOSE:To attempt reduction of dimensions of apparatus and stabilized inspection, by installing roller gap adjusting and vertical travel adjusting mechanisms and allowing a supersonic wave detector to run parallel to a steel pipe. CONSTITUTION:A hand wheel 12A for adjusting a roller gap and that 13A for a vertical travel are so operated that, a supersonic wave contactor 3 accommodated in its holder 2 runs parallel to a partion 1B to be inspected of a steel pipe 1. At this moment, a depression adjusting hand wheel 11A is operated so that the contactor 3 contacts the portion 1B under the specified pressure to adjust the depression pressures of each roller 10A-10D. Next, a flaw detection is conducted by rotating the steel pipe 1 and allowing the contactor 3 to run parallel to the portion 1B to be inspected. When the contactor 3 runs in the inspecting range and a potentiometer detects the running limit, the contactor 3 stops automatically. Next, the reversing hand wheel 9 is operated to set the direction of the contactor 3 in the opposite direction and an automatic travel is set along the return stroke and the flaw detection covering the whole range of the portion 1B is completed. Consequently, even if OD of the steel pipe 1 is different, the detection can be done with constant contact pressure and running speed, etc.

Description

DETAILED DESCRIPTION OF THE INVENTION [Technical Field of the Invention] The present invention relates to an ultrasonic flaw detection manipulator for ultrasonic flaw detection of steel pipes.

[Prior art]

The oil country pipe 1, especially the end of the drill pipe, is shown in Figure 4(a).
+ (bl * (Does the strength decrease as shown in cl?) To prevent this, the wall thickness is thickened and the inner and outer diameters are different.Furthermore, in order to guarantee the strength of these parts, magnetic particle flaw detection,
Inspections such as ultrasonic flaw detection are being conducted.

When performing ultrasonic flaw detection on a steel pipe 1t, as shown in FIG. 5, oblique flaw detection is performed with respect to the tube axis direction and the circumferential direction. There are various methods for specific scanning methods, but they can be roughly divided into those that are performed automatically using large equipment and those that are performed manually. Since the end of the drill pipe has several different outside diameters, the main pipe part is set on a rotating device such as a turning roller, and the probe is used for flaw detection without fully rotating the drill pipe in the main pipe part. After adjusting the position of the transverse scanning range 2 according to the height of the part, the probe is automatically scanned to perform flaw detection. In addition, when performing ultrasonic flaw detection manually, the flaw detection is performed while manually scanning the probe without rotating the door pipe with a rotating device.

However, when using an ultrasonic probe automatically, in addition to flaw detection equipment, ancillary equipment such as a tube end alignment device is required, which increases equipment costs and equipment maintenance costs, and also reduces flaw detection accuracy. The drawback is that the flaw detector must have at least 4 channels in order to increase the performance.

Furthermore, after the steel pipe is inserted into the rotating device, it is necessary to make various adjustments according to the outer diameter of the probe section, etc., which requires a large number of inspection steps. When performing ultrasonic flaw detection using a loose manual method, scanning is performed while the probe is in manual contact with the steel pipe, so the contact pressure fluctuates, reducing measurement accuracy, and the work is labor intensive. There is.

[Purpose of the invention]

The purpose of this invention is to improve the above-mentioned drawbacks and provide a manipulator for ultrasonic flaw detection that allows easy ultrasonic flaw detection of steel pipes with different diameters, regardless of their shape. That is.

[Summary of the invention]

The manipulator for ultrasonic flaw detection of the present invention accommodates an ultrasonic probe for flaw detection of steel pipes, has a probe holder that can run along the frame, and is attached to both the left and right sides of the frame, and has two probes in the front and back. The vehicle is equipped with a roller, a roller interval adjustment mechanism, a roller up/down adjustment mechanism, a roller pressing adjustment mechanism, a probe reversing mechanism, a travel distance detector, and a travel speed control circuit.

The rollers are each pressed against the outer periphery of the steel tube to position the ultrasonic probe relative to the steel tube. The roller spacing adjustment mechanism adjusts the spacing between the two front and rear rollers provided on both the left and right sides of the frame in accordance with the outer diameter of the steel pipe, and the roller up/down adjustment mechanism adjusts the spacing between two rollers, each set on the left and right sides of the frame. The vertical positions of the rollers are also adjusted according to the outer diameter of the steel pipe, and the ultrasonic probe is positioned in parallel with the portion of the steel pipe to be inspected using the roller interval adjustment mechanism and the roller up/down adjustment mechanism.

The roller pressing adjustment mechanism adjusts the pressure with which each of the rollers is pressed against the steel pipe, and the probe reversing mechanism adjusts the pressure at which the ultrasonic probe contacts the portion to be inspected of the steel pipe. is run along the frame, and the ultrasonic probe is run parallel to the steel pipe. The travel distance detector detects the travel distance of the probe holder and defines the travel range of the ultrasonic probe. The traveling speed control circuit calculates the traveling speed of the probe holder from the output signal of the traveling distance detector, feeds it back to the probe reversing mechanism, and controls the traveling speed of the ultrasonic probe.

[Embodiments of the invention]

Figure 1 (al, (bl) shows one embodiment of the present invention, (a) is a front view, (b) is a side view. In the figures, 1 indicates different outer diameters D+ * D! + Ds't: The steel pipe 2 has a steel pipe 2 that transmits ultrasonic waves in the circumferential direction and the pipe axial direction.
a probe holder 8 that accommodates the ultrasonic probe loop of the channel, is attached to a probe reversing mechanism 6 consisting of a gear group 4 and a travel motor 5, and runs along a frame 7 in the direction of arrow A and in the opposite direction; Inverts the ultrasonic probe 3- to the end 9.
This is a probe reversing mechanism that inverts the probe.

10A to 10D are each attached to the roller pressing pressure adjustment mechanism 11, and the roller interval adjustment mechanism 12. Rollers 10A and 10C are front rollers, and 10B are rollers for positioning the ultrasonic probe, which are provided on the left and right sides of the frame 7 via a roller up/down adjustment mechanism 15.

10D is a rear roller.

The roller pressing pressure adjustment device w411 contains hydraulic oil, and adjusts the pressing force with which each of the rollers 10A to 10D presses the steel pipe 1 by changing the hydraulic pressure by operating the pressing pressure adjustment handle 11A. The a-ra spacing adjustment mechanism 12 has a built-in gear group, and the front roller 10A (10C) and the rear roller 10B (ioD) are moved in the direction of the arrow B by operating the roller spacing adjuster #12A.

Move in direction C and adjust the roller interval. The roller up/down adjustment mechanism 13 also consists of a group of gears, and the roller up/down handle 1
3A, the position of the roller spacing adjustment mechanism 11 is varied to adjust the position of each roller 10A to 10. Move the position of D up and down. Reference numeral 14 denotes a travel distance detector consisting of, for example, a potentiometer that detects the travel distance of the probe holder 2, and a travel speed control that calculates the travel speed from the output signal of this detector and causes the probe to travel at a predetermined speed. It is a control device with a built-in circuit.

The operation of the ultrasonic flaw detection manipulator configured as described above will be explained.

First, as shown in FIG. 2, the material to be inspected 3. A main pipe portion 1A of steel g1 is set on the tube rotating device 15, and an ultrasonic flaw detection manipulator 16 is set on the suspension device 17 on the inspected portion 1B of the F copper pipe 1.

The ultrasonic flaw detection manipulator set is shown in Figure 1 (al.
, (outer diameter D1.D of the inspected part 1B as shown in bl)
.

Roller spacing adjustment handles 12A and roller upper and lower l/ndle 15A'r provided on both sides of frame 7 according to
The operation is performed so that the ultrasonic probe 3 housed in the probe holder 2 can run parallel to the part to be inspected 1B. At this time, the pressing pressure is adjusted so that one ultrasonic probe 6 travels while contacting the inspected part 1B with a constant pressure at the same time!・Ndol 11
A is operated to adjust the pressing force of each roller 10A to IOB.

Next, while driving the tube rotation device 515 to rotate the steel tube 1, the traveling motor 5 is driven to move the ultrasonic probe 3 to the part to be inspected.
Perform flaw detection without running parallel to B. The ultrasonic probe transmits ultrasonic waves in the circumferential direction and the tube axis direction, and detects all flaws in both directions simultaneously. When the ultrasonic probe 3 travels through the inspection range and the potentiometer 18 shown in FIG. Stopping Q Next, the inspector operates the reversing handle 9 to reverse the direction of the ultrasound probe 3, that is, the direction in which the ultrasound is transmitted.
The ultrasonic probe '5 is again moved along the return path, the starting point is detected by the potentiometer 18, and the ultrasonic probe '5 is automatically stopped at 0.degree. C. to complete the flaw detection of the entire range of the inspected part 1B.

While the ultrasonic probe 3 is running, the output signal of the potentiometer 1B is input to the differential circuit 19 to calculate the running speed, and this running speed is compared with a predetermined running speed 20 set in advance using the differential amplifier 21. , the deviation signal output from the differential amplifier 21 is input to the control circuit 22, and the ultrasonic probe 3 is always run at a predetermined running speed 22.

As described above, according to this embodiment, even if the outer diameter of the steel pipe 1 is different, the steel pipe 1 can be easily inspected by keeping the contact pressure, traveling speed, and scanning pitch of the ultrasonic probe constant.

In addition, in the above embodiment, by changing the mounting positions of the steel pipe 1 and the contact pinching roller, it is possible to easily inspect the pipe end of a straight pipe. Furthermore, by setting the ultrasonic probe to 4 channels and traveling only on the outbound or return trip, the area to be inspected is 1B.
It is also possible to scan the entire range.

〔Effect of the invention〕

The ultrasonic flaw detection manipulator of this invention has a roller spacing adjustment mechanism and a roller up/down adjustment mechanism that allow the ultrasonic probe to run parallel to the steel pipe. It is possible to downsize and downgrade the equipment without any expense. In addition, since flaw detection can be performed while keeping the contact pressure and traveling speed V of the ultrasonic probe constant, stable inspection can be performed, which greatly contributes to the quality of steel pipes. Furthermore, the ultrasonic probe/flaw detector has the effect of being able to accurately detect flaws in the entire range of the inspected part even if the ultrasonic probe/flaw detector is half the size of the conventional one.

[Brief explanation of drawings]

FIG. 1 (al, (bl) shows an embodiment of this invention,
(a) is a front view, (b) is a side view, Fig. 2 is a suspension layout diagram when performing flaw detection on a steel pipe according to the embodiment shown in Fig. 1, and Fig. 3 is the same as shown in Fig. 1. A block diagram of the control device of the embodiment; FIG. 4(a), (bl, and cl) are cross-sectional views showing the ends of the drill pipe, and FIG. 5 is a scanning diagram of the ultrasonic probe. DESCRIPTION OF SYMBOLS 1... Steel pipe 1. 2... Probe holder, 3... Ultrasonic probe, 4... Gear group, 5... Travel motor, 6...
... Probe reversing mechanism, 7... Frame, 8... Probe reversing mechanism, 10A, 10C... Front roller, 1 [IB
, 10D... Rear roller, 11... Roller pressing pressure adjustment mechanism, 12... Roller interval adjustment mechanism, 13... Roller up/down adjustment mechanism, 14... Control device, 15... Tube rotation device , 16... manipulator for ultrasonic flaw detection, 1
7... Suspension device, 1st... Potentiometer. Agent Patent Attorney Sanro Kimura Figure 2 Figure 3 Figure 4 Figure 1 (C) Figure 5

Claims (2)

[Claims] (1) A probe holder that accommodates an ultrasonic probe for flaw detection of steel pipes and is movable along the frame; Rollers that are attached to both the left and right sides of the frame and consist of two rollers in the front and back; a roller interval adjustment mechanism that adjusts the distance between the two rollers; a roller vertical adjustment mechanism that adjusts the vertical position of the rollers attached to both left and right sides of the frame; and a roller that adjusts the pressure with which each of the rollers is pressed against the steel pipe. a pressing pressure adjustment mechanism; a probe traveling mechanism that causes the probe holder to travel; a travel distance detector that detects the travel distance of the probe holder; and a travel distance detector that detects the travel distance of the probe holder; A manipulator for ultrasonic flaw detection equipped with a traveling speed control circuit that calculates and controls the traveling speed of the child holder. (2) The manipulator for ultrasonic flaw detection according to claim 1, wherein the probe holder is provided with a probe reversing mechanism for reversing the ultrasonic probe.