JPS62201357A - Running device for ultrasonic flaw detecting machine or the like - Google Patents

Abstract

PURPOSE:To freely select the moving direction and setting position of a running device at the time of inspection by providing a main sucking mechanism and an auxiliary sucking mechanism which are fitted on the surface of a body to be inspected. CONSTITUTION:When the object surface of the body to be inspected is a vertical cylinder, the main sucking mechanism 1 and auxiliary sucking mechanism 2 are fitted on the surface to be inspected by vacuum suction. Further, a main moving frame body 3 is interposed between the mechanisms 1 and 2 and driven to and away from the mechanism 1. A position control mechanism 4 is interposed between the mechanism 1 and frame body 3 moves forth and back relatively. A swivel mechanism 5 is interposed between the mechanism 2 and frame body 3 and swivels them relatively along the surface to be inspected. A sucked rubber swing mechanism 6 is interposed between the mechanism 1 and frame body 3 and brings the mechanism 2 into contact with the surface to be inspected. Consequently, the suction and run performance when the surface of the body to be inspected is in a cylindrical shape is improved.

Description

Detailed Description of the Invention: "Industrial Application Field" The present invention relates to a traveling device such as an ultrasonic flaw detector, and particularly improves adsorption and traveling properties when the surface of an object to be inspected has a cylindrical shape. The present invention relates to a traveling device that does the following.

"Conventional technology" When inspecting the surface of vertical containers in nuclear power plants, thermal power plants, chemical plants, etc. using an ultrasonic flaw detector, it is necessary to install the ultrasonic flaw detection probe at the required position. In this case, a traveling device with an adsorption function is used. In this case, if the traveling device travels (moves) in a straight line, two sets of suction mechanisms are provided and the traveling device is moved in parallel while alternately producing suction action. Inspections such as ultrasonic flaw detection are carried out by setting the probe to 1ξ and moving the probe little by little at that position.

"Problems to be Solved by the Invention" However, in the plants mentioned in 11 above, vertical cylindrical containers (tanks) are often used, and when the traveling device is run vertically, its movement is difficult. However, when moving in the horizontal direction (circumferential direction), when the suction mechanism is moved in parallel in a straight line, the visibility is impaired due to the deviation between the suction mechanism and the cylindrical surface. Therefore, it cannot be applied unless the suction mechanism is specialized. Furthermore, if both linear and arc-shaped dedicated traveling functions are provided, there will be a problem in that the traveling size and weight will increase.

The purpose of the present invention is to effectively solve the problems of the prior art.

"Means for solving the problem" The traveling device of the ultrasonic flaw detector or the like according to the present invention is provided with a main suction mechanism and an auxiliary suction mechanism that are attached to the surface of the object to be inspected. A position control mechanism for moving the movable frame and the main movable frame is provided, and a suction cup pressing mechanism for placing the suction pad in close contact with the surface of the object to be inspected is provided between the auxiliary suction mechanism and the main movable frame. , a swinging mechanism that holds the main suction mechanism and the auxiliary suction mechanism so that they can tilt relative to each other is provided, and if necessary, the auxiliary suction mechanism is supported between the auxiliary suction mechanism and the main moving frame. A turning mechanism for turning is provided.

``Embodiment'' Hereinafter, an embodiment of a traveling device for ultrasonic flaw detection, etc. according to the present invention will be described with reference to FIGS. 1 to 5. In this example, the surface of the object to be inspected is as shown in FIG.
The explanation will be given assuming that it is cylindrical.

In the figure, when the inspection surface of the object to be inspected is the surface of a vertical cylindrical container, the main suction mechanism and 2 are attached to the inspection surface by vacuum suction. The ilT auxiliary suction mechanism, code 3, is the main suction la groove l and the auxiliary suction mechanism 2.
A main movable frame 4, which is interposed between the main suction mechanism 1 and the main movable frame 4, is driven in the front and back direction (running direction, vertical direction in FIG. 2) with respect to the main suction mechanism 1. What is the position control mechanism, code 5, which is interposed between the body 3 and performs relative movement in the front-back direction? ! 11 Auxiliary adsorption mechanism 2
A rotation mechanism 6 is interposed between the main suction mechanism 1 and the multi-movement frame 3, and is used to relatively rotate the main suction mechanism 1 and the multi-movement frame 3, for example, by 90 degrees along the surface to be inspected. A suction cup swinging mechanism interposed between the main movable frame 3 and the main suction mechanism 1 to allow the angle of the main suction mechanism 1 to be changed according to the surface, and reference numeral 7 denotes the auxiliary suction mechanism 2 and the rotating mechanism. A suction cup pressing mechanism 4a for bringing the auxiliary suction mechanism 2 into close contact with the inspection surface is interposed between the auxiliary suction mechanism 2 and the surface to be inspected.
10 is an inclination angle detection sensor mounted on the main moving frame 3 to detect the inclination state thereof. Reference numeral S is the main moving frame 3 and the probe driving mechanism 8. , an ultrasonic probe mounted on the probe pressing mechanism 9.

The main suction mechanism l is arranged between a plurality of outer pads 11 for vacuum suctioning the surface of the object to be inspected, a pad support bracket 12 attached to the outer pads 11, and a space between the pad support brackets 12. The outer pad 11 is configured to be provided with a guide rod 13 that integrally connects the The outer pad 11 is flexible so as to follow changes in the shape of the surface to be attracted, and the outer pad 11 is flexible enough to follow changes in the shape of the surface to be attracted. In this example, since it is equipped with a twist mechanism lot and a tangent surface fit degree setting mechanism 102, which will be described later, the suction lip is slightly curved (directionally applied) so that it can be efficiently suctioned onto a cylindrical surface. things) etc. are used.

The auxiliary suction mechanism 2 selectively supports the main movable frame 3 and other molds by vacuum suction, and has a number of bellows (in the illustrated example, each of the left and right 2) inner pads 21 and the main moving frame 3
The inner pad 21 is also provided with a pad support bracket 22 in a connected state, and the inner pad 21 is also vacuum-generated by operating a vacuum generation bag F115 by the pressurized air supply system 14, in a separate operation from the main suction mechanism 1. By pulling it, you gain suction power.

The main movable frame 3 is slidable in the running direction, with engagement members 31 on both left and right sides in the running direction supported by the guide rods 13 of the main suction mechanism 1 in an externally fitted state.

The position control mechanism 4 is interposed between the main suction mechanism 1 and the main moving frame 3, and is a stepping motor mounted on the pad support bracket 12. 41, a transmission means 42 such as a belt for transmitting the rotation of the stepping motor 41, a lead screw 43 connected to the transmission means 42, and a lead screw 43 that is screwed to the lead screw 43 and attached to the main moving frame 3. It is constituted by a boss portion 44 connected via a suction cup swinging mechanism 6. Further, a pair of position control mechanisms 4 are provided on the left and right sides of the main suction mechanism 1, and normally drive the stepping motors 41 with the same number of pulse signals to drive the main moving frame 3 by equal amounts on the left and right sides. . By detecting the movement m with a linear potentiometer or the like, automatic driving becomes possible.

The said turning mechanism 5 is? +It is a device that relatively rotates between the auxiliary suction mechanism 2 and the main moving frame 3 along the surface to be inspected, and is rotatably inserted into a hole made in the center of the main moving frame 3. and a turntable 51 connected to the auxiliary adsorption mechanism 2, a ring 52 integrated with the turntable 51, and a plurality of (eight in FIG. 1) guide rollers 53 holding the ring 52. A turning motor 54 mounted on the main moving frame 3, a transmission means 55 such as a worm wheel that transmits the rotation of the turning motor 54, and a gear provided on the outer periphery of the transmission means 55 and the ring 52. This configuration includes a pinion 56 for connecting the parts, and a rotary encoder 57 for detecting the amount of rotation of the turntable 51.

The suction cup swinging mechanism 6 includes a main moving frame 3 and its engaging member 3.
1 and 2 are pin-coupled by a pair of left and right support bins 61 as shown in FIGS. The swing lock mechanism 6 shown in FIG.
The swing lock mechanism 62 operates the engagement bracket 64 with an air cylinder 63, and the swing lock mechanism 62 operates a lock provided integrally with the engagement member 31 within the range of the engagement hole 65 of the engagement bracket 64. For pin 66, the fifth
A swingable state (not shown at a swing angle O in the figure) and a locked state locked by a lock pin 66 (position (A)) are obtained.

The suction cup pressing mechanism 7 sets the relative distance between the hli auxiliary suction mechanism 2 and the rotating mechanism 5 in the direction perpendicular to the surface to be inspected, and in the example shown in FIG. The position is changed all at once.

The probe drive mechanism 8 includes a support guide 81 in the left and right direction attached to the tip (upper end in FIG. 2) of the main moving frame 3, and a support guide 81 in the left and right direction that drives the probe S along the support guide 81. a moving block 82 for moving the moving block 82; and a support guide 8 connected to the moving block 82.
1, a drive motor 85 for precisely running the endless belt 84 from side to side, and the drive motor 8
5 and the endless belt 84, a rotation transmission mechanism 86 such as a bevel gear or a pulley, a limit switch for detecting the horizontal movement limit of the moving block 82, and a rotary for detecting the amount of movement of the moving block 82. The configuration includes an encoder and the like.

As shown in FIGS. 1 and 4, the probe pressing mechanism 9 has a nif BE attached to the lower part of the main moving frame 3, and a rear part of the probe driving mechanism 8 attached to a support bin 91. , the push roller 93 is operated by the air cylinder 92 mounted on the main moving frame 3, and the probe drive mechanism 8 is moved to the surface to be inspected, with the supporting slide being able to swing freely in the direction opposite to the surface to be inspected. Then, the probe S is brought into contact with the probe S with an appropriate suppressing force.

The tilt angle detection sensor 10 is mounted on the main moving frame 3 and detects the inclination in the left and right direction along the surface to be inspected when the moving frame 3 on the nucleus moves vertically on the surface to be inspected. It is equipped with a driving means that rotates 90 degrees with respect to the main moving frame 3 as necessary, and as described later, rotates to match the orientation of the main moving frame 3, thereby maintaining its verticality. It is something to detect.

In addition, the outer pad 11 and the pad support bracket 12
As shown in Figure 3, there is a twisting machine hWlol between
and a contact surface angle setting mechanism 102, and the twisting mechanism 101 is constituted by a rotary solenoid or the like, and when the outer pad 11 is curved or the like, the main suction mechanism The direction of the outer pad 11 is detected by the tilt fQ detection sensor 10, and the outer pad 11 is twisted and rotated by 90 degrees as shown by the arrow in FIG. It is something.

Note that the rotary solenoid can be replaced with a rotating means using an electric motor, an air cylinder, or the like. Further, the contact surface chromaticity setting mechanism 102 adjusts the contact surface 1 of the outer pad 11 according to the curvature of the cylindrical surface.
0 degree is set in advance, and as shown in Fig. 3, it is composed of a pin 103 such as a bolt that rotatably supports the outer pad 11, and a fastener 104 such as a nut that knocks the rotation. There is.

[Ultrasonic flaw detection work, movement of the traveling device, etc.] of the traveling device configured in this way will be explained below.

[Ultrasonic flaw detection work] Main suction mechanism I is activated, that is, pressurized air is sent from pressurized air supply device 14 to vacuum generator 15 to generate a vacuum, and a plurality of outer pads 11 are inspected. It is adsorbed to the surface and its adsorption power supports the entire weight. Further, the suction of the inner pad 21 of the auxiliary suction mechanism 2 is released, and the ultrasonic probe S is pressed against the surface to be inspected by the probe pressing mechanism 9. Then, by operating the stabbing motor 41 in the position control mechanism 4, the main moving frame 3 is moved up and down by a necessary distance, in the case of FIG. 2, within the range shown by the chain line. By operating the drive mechanism 8, the ultrasonic probe S is moved left and right in FIG.

In this case, as shown in FIG. 1, the length direction of the guide rod 13 in the main suction mechanism 1 and the circumferential direction of the surface to be inspected are shifted due to the movement of the main moving frame 3. However, when the movement range by the position control mechanism 4 is small, the probe pressing mechanism 9 performs hli (τi) to ensure that the ultrasonic probe S is always in contact with the surface of the apricot to be inspected. Can be implemented.

[Moving the traveling device in the circumferential direction] Due to changes in the ultrasonic flaw detection position, etc., the traveling device can be moved in the circumferential direction of the surface to be inspected.
When running in the right direction in Fig. 1, the outer parallax 1-11 is moved as indicated by the arrows on the f1 line in Fig. 1 (A) and (C). be done.

The movable/hli auxiliary suction mechanism 2 shown in FIG. 1(A) is in an operating state in which the entire weight is supported by its suction force, and the suction action of the outer pad II in the main suction mechanism l is released. shall be.

Then, the suction cup pressing mechanism 7 is activated, and the hl? By increasing the relative distance between the auxiliary suction machine hW 2 and the main movable frame 3, moving the main movable frame 3 away from the surface to be inspected, and removing the outer pad 1 from the surface to be inspected, the upper chain line Raise outer pad +1 to the position shown. Further, after operating the swinging lock mechanism 62 of the suction cup swinging mechanism 6 to bring it into the swinging lock state shown in position (a) in FIG. 5, the stabbing motor 41 in the position control mechanism 4 is operated. , the main suction mechanism 1 is moved so that the outer butt 11 is at the position shown by the right chain line.

Movement shown in FIG. 1 CB): Suction cup LTS motive +1 operates the swing lock mechanism 62 of 6 in the opposite direction, and the lock bin 66 is in the position shown by the position (opening) in FIG. At the same time, the suction cup pressing mechanism 7 is operated again, and ? +Ii The relative distance between the auxiliary suction device +R2 and the main hyper-moving frame 3 is reduced, and the outer pad 11 is moved from the position shown by the solid line to the position shown by the chain line, and brought into contact with the surface to be inspected. In this case, by making the main movable frame 3 swingable, the plurality of outer pads 11 in the main suction mechanism 1 can be placed in close contact with the surface to be inspected. .

Movement shown in FIG. 1(C): Activate the main suction mechanism 1,
If the entire weight is supported by its suction power, 6.
The suction action of the inner pad 21 in the auxiliary suction mechanism 2 is released. Then, the suction cup pressing mechanism 7 is activated to reduce the relative distance between the auxiliary suction mechanism 2 and the main moving frame 3, the hli auxiliary suction mechanism 2 is separated from the surface to be inspected, and the inner pad 21 is moved away from the surface to be inspected. By peeling it off, it is raised to the position shown by the dashed line.

Further, after operating the swing locking mechanism 62 of the suction cup swinging mechanism 6 to set the swinging lock state, the suctioning motor 41 in the position control mechanism 4 is operated to move the inner pad 2
The auxiliary suction mechanism 2 is moved so that 1 is at the position indicated by the right burial mound line. When the position of the inner pad 21 in the auxiliary suction mechanism 2 has been moved to the required position, the rocking state is released by the swing lock mechanism 62, and the Nli auxiliary suction machine purchase 2 is released. Activate it. this? By suctioning both the auxiliary sucking mechanism 2 and the main suction mechanism 1, the state shown in FIG. 1 (Δ) is achieved. Furthermore, if it is necessary to move the traveling device, please refer to Figure 1 (Δ ) or C).
You will be able to control the movement of

[Moving the traveling device in another direction] The traveling device in one embodiment can correct the orientation of the main moving frame 3, the ultrasonic probe S, etc., and move the surface to be inspected by using the turning mechanism 5 in combination. It is possible to move the object to any desired position.

Direction correction: In Figure 1, the surface to be inspected is assumed to be a cylindrical surface, so assuming that the circumferential direction is horizontal,
The direction in which the ultrasound probe S faces is the horizontal direction. Therefore, whether the ultrasonic probe S is correctly oriented horizontally can be detected by the inclination angle detection sensor 10, and if there is a deviation in orientation, it can be corrected by operating the rotation mechanism 5. .

That is, if a deviation in orientation is detected, the auxiliary suction mechanism 2
is placed in the suction state, the suction of the main suction mechanism 1 is released, the main suction mechanism 1 is floated by the suction cup pressing mechanism 7, the turning motor 54 of the turning mechanism 5 is operated, and the hli is supported by the auxiliary suction mechanism 2. The main moving mechanism 3, that is, the main suction mechanism 1, is rotated by the reaction force that causes the turntable 51 to rotate, and the tilt angle detection sensor IO is corrected to detect the vertical state.

After the modification of the main suction mechanism 1 is completed, the main suction mechanism 1 is brought into close contact with the surface to be inspected using the suction cup pressing machine +1'li7, and the suction mechanism 1 is assisted by the suction cup pressing mechanism 7, so that the entire weight is supported by the suction action. Float the suction mechanism 2
・The rotation mechanism 5 rotates hl by the amount of rotation of the song.
i Return the auxiliary suction mechanism 2 to its original position, align the ultrasonic probe S with the direction of the main moving mechanism 3, and return the auxiliary suction mechanism 2 to the state in close contact with the surface to be inspected by the suction cup pressing mechanism 7. Yes, main adsorption mechanism l and hli auxiliary adsorption machine +1142
By correcting the orientation of the ultrasonic probe S, the ultrasonic probe S can be set accurately.

Movement to any position: By combining the circumferential movement and rotation described above, movement to the sound conducting position on the surface to be inspected becomes possible. Movement in the horizontal and circumferential directions is
As mentioned above, vertical movement is performed as follows.

That is, the auxiliary suction mechanism 2 is placed in the suction state, and the main suction mechanism 1 is
The main suction mechanism 1 is released from the contact state by the suction cup pressing mechanism 7 and the main suction mechanism 1 is rotated by 90 degrees by operating the rotation mechanism 5, and the inclination angle is detected during the rotation. The twisting mechanism 101 is actuated by the tilt state detection signal from the sensor 10 and the signal for turning the main suction mechanism 1, and the outer pad 11 is twisted and turned by 90 degrees as shown by the arrow in FIG. Let's make U. Such an operation of the twisting mechanism 101 can be performed at any time as long as the outer pad 11 is not suctioning. Also, at the end of the turn, rotate the tilt μm detection sensor 90 degrees from 0,
It is set so that the direction of the main suction mechanism 3 can be detected.

In this way, the main suction mechanism 1 is oriented vertically and suction is performed by the Arakupad [1], and the hl? The suction by the auxiliary suction RI mechanism 2 is released, the main moving mechanism 3 is moved in the vertical direction by the position control mechanism 4, the hft auxiliary suction and nursing mechanism 2 is adjusted to the required height position, and the hli auxiliary suction mechanism 2 is moved. Performs adsorption action. Furthermore, when the ultrasonic probe S is directed horizontally, the main suction mechanism l
This is carried out by, for example, releasing the suction and operating the rotation mechanism 5.

In addition, although the example in FIG. 1 shows the case where the traveling device is suctioned to the convex surface to be inspected, the suction cup pushing mechanism 7
By setting the relative distance between the main suction mechanism 1 and the auxiliary suction mechanism 2, the traveling device can be applied to a concave surface such as the inner peripheral surface of a container, a surface to be inspected with large irregularities, etc. You can do it from Furthermore, it is of course possible to carry out ultrasonic flaw detection by moving the main moving mechanism 3 up and down with the ultrasonic probe S facing upward or downward.

"Effects of the Invention" As explained above, the traveling device of the ultrasonic flaw detector, etc. of the present invention is provided with a main suction mechanism and an auxiliary suction mechanism that are attached to the surface of the object to be inspected, and the main suction mechanism has a movable suction mechanism. A freely movable main moving frame and a position controller (I'4) for moving the main moving frame are provided, and a suction pad is placed between the auxiliary suction mechanism and the main moving frame in close contact with the surface of the object to be inspected. A suction cup pressing mechanism is provided, and a swinging mechanism is provided that holds the main suction mechanism and the auxiliary suction mechanism so that they can be tilted relative to each other. Since the rotating mechanism that supports and rotates the mechanism is arranged in a staggered manner, the moving direction and setting position of the traveling device can be freely selected during inspections such as ultrasonic flaw detection.Furthermore, It is easy to set the suction pads of both suction mechanisms in close contact with each other regardless of the shape of the surface to be inspected, and it is possible to carry out accurate inspection.

[Brief explanation of drawings]

The drawings show an embodiment of a traveling device such as an ultrasonic flaw detector according to the present invention, and (Δ) or C) in FIG. 1 is a schematic diagram of the running state of the device, and FIG. Figure 3 is a view from the III-In arrow in Figure 2, and Figure 4 is a view from IV-IV in Figure 2.
The arrow view and FIG. 5 are enlarged views of the locking mechanism portion of the suction cup rocking mechanism. S...Ultrasonic probe, l...Main adsorption mechanism, 2...Auxiliary adsorption mechanism, 3...Main moving frame, 4... ... Position control mechanism, 5 ... Rotating mechanism, 6 ... Suction cup swinging mechanism, 7 ... Suction cup pressing mechanism, 8 ... Probe drive Mechanism, 9.
... Probe pressing mechanism, 10 ... Tilt angle detection sensor, 11 ... Outer pad, 12.
... Pad support bracket, 13 ... Guide rod, 14 ... Pressurized air supply device, 15
...Vacuum generator, 2 [...Inner pad, 22...Pad support bracket l-13
1... Engaging portion 10, 41... Stepping motor, 42... Transmission means, 43...
... Lead screw, 44 ... Boss part, 51 ...
... Turntable, 52 ... Ring, 53
...Guide roller, 54 ... Rotating motor, 55 ... Transmission means, 56 ... Binion, 57 ... Rotary encoder, 6).・
... Support bin, 62 ... Swing lock mechanism, 6
3... Air cylinder, 64... Engagement bracket, 65... Engagement hole, 66...
Lock pin, 81...Support guide, 8z...
...Moving block, 83...Pulley, 84.
... Endless belt, 85 ... Drive motor, 86 ... Rotation transmission mechanism, 91 ...
Support pin, 92... Air cylinder, 101...
... Twisting mechanism, 102 ... Contact surface angle setting mechanism, 103 ... Bin, 104 ... Fastener.

Claims (1)

[Claims] (i) A main suction mechanism and an auxiliary suction mechanism that are attached to the surface of the object to be inspected are provided, a main movable frame body that is movable on the main suction mechanism, and a position control mechanism that causes the main movable frame to travel. In addition, a suction cup pressing mechanism is provided between the auxiliary suction mechanism and the main moving frame to bring the suction pad into close contact with the surface of the object to be inspected;
1. A traveling device for an ultrasonic flaw detector, etc., comprising a swinging mechanism that holds a main suction mechanism and an auxiliary suction mechanism so that they can tilt relative to each other. (ii) A main suction mechanism and an auxiliary suction mechanism that are attached to the surface of the object to be inspected are provided, and the main suction mechanism is provided with a movable main moving frame and a position control mechanism that causes the main moving frame to travel; Between the suction mechanism and the main moving frame, a suction cup pressing mechanism that brings the suction pad into close contact with the surface of the object to be inspected, and a swinging mechanism that holds the main suction mechanism and the auxiliary suction mechanism so that they can be tilted relative to each other; A traveling device for an ultrasonic flaw detector, etc., characterized in that it is equipped with a turning mechanism that supports and turns an auxiliary suction mechanism.