KR100941999B1 - Apparatus for Inspecting Using Ultrasonic Wave - Google Patents

Abstract

An ultrasonic inspection apparatus capable of performing an ultrasonic inspection on a test object in which an inspection space is constrained and having a simple structure is easy to maintain and to reduce costs. The ultrasonic inspection apparatus according to the present invention is an ultrasonic inspection apparatus for determining the degree of corrosion of the inspected object by performing an ultrasonic test on the inspected object, the water being inserted into the inspected object, the water provided in the inspected object A sensor unit for performing an ultrasonic test of the inspected object as a medium, one side is connected to the sensor unit, the other side is connected to the moving tube extending to the outside of the test object, the other end portion of the moving tube, the moving tube is The driving unit moves along the longitudinal direction of the moving tube and rotates along the axial direction of the moving tube, and is provided on the outside of the inspected object, and includes a fixed tube surrounding at least a portion of the moving tube. Therefore, according to the present invention, ultrasonic inspection can be performed even on a test subject having a narrow space, and a simple structure can facilitate maintenance and reduce inspection cost.

Ultrasonic, Test Subject, Steam Generator, Heat Transfer Tube, Steel Mesh

Description

Ultrasonic Examination Device {Apparatus for Inspecting Using Ultrasonic Wave}

1 is a block diagram showing a reactor primary system pressure boundary of FIG.

2 is a block diagram showing an ultrasonic inspection apparatus according to an embodiment of the present invention;

3 is a perspective view showing a part of the moving tube of FIG. 1;

4 is a cutaway perspective view of a portion of the fixation tube of FIG. 1;

5 is a perspective view showing the drive unit of FIG.

6 is a perspective view illustrating the sensor unit of FIG. 1;

Figure 7 is a perspective view of the incision showing the fixed tube bracket portion of FIG.

<Explanation of Signs of Major Parts of Drawings>

10: reactor 20: steam generator

110: sensor unit 112: sensor body

114: ultrasonic sensor 115: groove

116: guide portion 118: connecting portion

120: moving tube 125: joint

130: first moving tube 140: second moving tube

142: moving tube body 144: reinforcement

150: fixed tube 152: fixed tube body portion

154: protrusion 160: drive unit

162: rotary drive unit 164: rotary screw

166: fixed tube fixing portion 168: guide shaft

170: fixing pipe bracket 172: first sealing part

174: second sealing portion 175: outlet inlet

176: contact ring 178: spacer

P: subject

The present invention relates to an ultrasound inspection apparatus, and more particularly, to an ultrasound inspection apparatus capable of performing an ultrasonic inspection on a variety of inspected objects with limited space, and having a simple structure, which is easy to maintain and reduce cost.

In general, a pipe having a high temperature and high pressure fluid therein is easily eroded by an inner wall due to friction with a fluid, a foreign material in the fluid, and various problems such as leakage and process interruption. Therefore, the pipes should be periodically inspected for corrosion or the degree of corrosion to prevent leakage. However, if the diameter of the pipe is small, it is very difficult to check the corrosion of the inner wall by inserting the inspection device into the pipe.

As one of the methods for inspecting the corrosion of such pipes, a method of using ultrasonic waves non-destructively is used.

On the other hand, the fluid flows at a very high speed with high pressure and temperature inside the pipe used in the plant of the nuclear power plant shown in FIG. 1, in particular, the turbine generator system of the nuclear power plant-the secondary side. Therefore, the phenomenon that the pipe thickness becomes thin due to corrosion or wear due to the flow of the fluid becomes more prominent.

As such, it is most important to accurately understand the degree of corrosion of the pipes because leakage caused by corrosion of pipes used in nuclear power plants is directly connected to human life.

However, when a general ultrasonic inspection apparatus is used for the pipe inspection of such a nuclear power plant, there is a limit in performing the inspection due to the space constraint of the inspected object.

For example, in the steam generator 20 connected to the central reactor 10 in a nuclear power plant, when the inside of the heat pipes constituting the steam generator 20 is to be inspected, the lower space of the heat pipe openings is narrow and the mechanism Could not be inserted.

That is, since the ultrasonic sensor and the mechanical devices for driving the same are integrally formed, there is a limit in performing the inspection by inserting the ultrasonic sensor into the test subject having the space limitation as described above.

In the existing longitudinal direction, the ultrasonic sensor is mounted on the end of the long stick and the worker directly inspects the stick on the other side. However, the space at the bottom of the heat pipe opening is also narrow and it is impossible to use it.

In addition, when applied to an environment exposed to radioactive contamination, such as a nuclear power plant, the mechanical devices constituting the ultrasonic inspection apparatus are exposed to the radioactive environment and thus cannot be managed and moved freely, resulting in a high inspection cost.

The present invention is to solve the above-mentioned conventional problems, an object of the present invention is to provide an ultrasonic inspection apparatus that can be applied to an inspection object having a narrow space, such as a heat transfer tube.

Another object of the present invention is to provide an ultrasonic inspection apparatus that is easy to manage and move because a mechanical device is not exposed to a hazardous environment such as radioactive contamination.

Still another object of the present invention is to provide an ultrasonic inspection apparatus which is made of a simple structure and which is easy to maintain and reduce in cost.

In order to achieve the above object, the present invention is an ultrasonic inspection apparatus for determining the degree of corrosion of the inspected object by performing an ultrasonic test on the inspected object, which is inserted into the inspected object, the inside of the inspected object Sensor unit for performing the ultrasonic test of the subject under water provided in the medium, one side is connected to the sensor unit, the other side is provided with a moving tube extending to the outside of the subject, the outside of the subject, Wrapping at least a portion of the moving tube and is connected to the fixed tube for guiding the movement of the moving tube and the other end portion of the moving tube, the driving unit for moving the moving tube along the longitudinal direction of the moving tube and rotates along the axial direction of the moving tube do.

And, at least a portion of the moving tube and the fixed tube is preferably configured to be flexible to bend.

On the other hand, the moving tube is connected to the sensor unit, and comprises a first moving tube inserted into the test object and the first moving tube and the second moving tube interconnecting the first moving tube and the test object, located outside the test object Can be. Here, the first moving tube is formed smaller in diameter than the second moving tube, it is preferable that a joint portion for interconnecting the first moving tube and the second moving tube between the first moving tube and the second moving tube. In addition, the joint portion is more preferably formed with a step corresponding to the diameter of the first moving tube and the second moving tube.

And, any one of the inner side of the fixed tube and the outer side of the moving tube is preferably formed with a plurality of protrusions. Here, the protrusion may be formed in a repeating ring shape formed along the circumference of the fixed tube and the moving tube.

In addition, it is preferable that at least a part of the moving tube is provided with a reinforcing portion woven in a mesh form on the outside. Here, it is more preferable that the reinforcement part contains a metal material.

On the other hand, the ultrasonic inspection apparatus according to the present invention is provided on the end side of the fixed tube is coupled to the fixed tube, it may be configured to include a fixed tube bracket for selectively contacting the test subject. In addition, it is preferable that an outlet inlet is formed in the fixed tube bracket to allow the fluid to flow in and out of the space between the fixed tube and the moving tube.

It is preferable that a first sealing part is provided at a portion where the fixed tube bracket is in contact with the inspected object, and a second sealing part which blocks the flow of fluid is provided in the space between the fixed tube and the moving tube. Here, the second sealing portion may be provided on the end side of the fixing tube is provided on the fixing tube bracket coupled to the fixing tube.

In addition, the second sealing part may include a plurality of contact rings fixed to the inner surface of the fixing tube bracket and the plurality of contact rings, and may include one or more spacers to maintain the spacing of the contact rings.

On the other hand, the driving unit is coupled to the end portion of the moving tube to rotate the moving tube, and is configured to engage with the rotary driving unit, the rotary driving unit to move along the longitudinal direction of the moving tube together with the moving tube, is rotatably provided It may include a rotary screw for moving the rotary drive unit along the longitudinal direction of the moving tube and a translational drive for axially rotating the rotary screw.

Here, the drive unit is provided in front of the rotary drive unit, it is preferable to include a fixed tube fixing portion for fixing the end of the fixed tube. And, it is more preferable that the drive unit includes at least one guide shaft for guiding the longitudinal movement of the rotary drive.

The sensor unit may include a sensor body provided with an ultrasonic sensor and one or more guide parts rotatably coupled to the sensor body.

DETAILED DESCRIPTION Hereinafter, exemplary embodiments of the present invention will be described with reference to the accompanying drawings. In the description of this embodiment, the same name and the same reference numerals are used for the same configuration and additional description thereof will be omitted.

2 to 5, the configuration of the ultrasonic inspection apparatus according to an embodiment of the present invention will be described.

The ultrasonic inspection apparatus according to the present embodiment includes a sensor unit 110, a moving tube 120, a fixed tube 150, and a driving unit 160.

The sensor unit 110 is inserted into the inspected object P to perform an ultrasonic inspection of the inspected object P. Here, the type of the test object P into which the sensor unit 110 is inserted is not limited, and for example, the sensor unit 110 may be in the form of a pipe, in which a passage through which a fluid flows may be formed.

The inside of the pipe may be corroded by a high temperature and high pressure fluid, and the inner wall may be corroded by the friction with the fluid or the foreign matter in the fluid. The sensor unit 110 generates an ultrasonic wave in the pipe and receives the reflected wave. Inspect the pipe for corrosion.

The sensor unit 110 preferably performs an ultrasonic test along the longitudinal direction and the circumferential direction of the inspected object P in order to inspect the inside of the inspected object P closely. To this end, in the present embodiment, the sensor unit 110 is configured to move along the longitudinal direction of the inspected object P and rotate along the axial direction.

The movement of the sensor unit 110 is possible by being finally transmitted to the sensor unit 110 by the moving tube 120 to be described later the driving force for translation and rotation generated in the drive unit 160.

The sensor unit 110 is composed of a multi-channel, it is possible to increase the transmission and reception sensitivity using the acoustic lens.

On the other hand, in order to perform the ultrasonic test, there should not be an air layer between the sensor unit 110 and the inspected object P, and should be filled with something. This is because ultrasonic waves are a kind of sound waves, and thus, they do not propagate without a medium, and air does not effectively function as a medium because the density is low.

Accordingly, in the present embodiment, water is filled in the heat transfer tube, and the lower portion is sealed in accordance with the case in which the inspected object P is disposed vertically. A detailed configuration of the sensor unit 110 will be described later with reference to FIG. 6.

The moving tube 120 is connected to the sensor unit 110, one side is described above, the other side is formed to extend to the outside of the test object (P). The moving tube 120 is formed in the form of a hollow tube, the cable connected to the sensor unit 110 is configured to pass through.

Here, the moving tube 120 is preferably configured to be able to be bent freely made of at least a portion of a flexible material in order to overcome the peculiar structure or space constraints of the inspected object (P).

The moving tube 120 according to the present embodiment is configured in a form in which two moving tubes 120 having different diameters are connected to each other by a joint part.

Specifically, the moving tube 120 is connected to the sensor unit 110 and the first moving tube 130 and the first moving tube 130 to be inserted together with the sensor unit 110 into the test object (P) and will be described later. The driving unit 160 is connected to each other and includes a second moving tube 140 located outside of the inspection object P and a joint connecting them to each other.

Here, the first moving tube 130 is formed smaller in diameter than the second moving tube 140, it is configured to be easily inserted into the test object (P). In addition, the joint is formed with a step corresponding to the diameter of the first moving tube 130 and the second moving tube 140 to connect the first moving tube 130 and the second moving tube 140 to each other.

In this embodiment, the diameter of the second moving tube 140 is larger than that of the first moving tube 130, so that the rotational force generated by the driving unit 160 can be effectively transmitted to the sensor unit 110. That is, the first moving tube 130 is formed of a small diameter so that it can be inserted into the test object (P), the second moving tube 140 has a diameter of the first moving tube in order to effectively transmit the rotational force generated in the drive unit 160 It is formed larger than 130.

In addition, the movable pipe 120 must be flexible and strong torsion in order to effectively transmit the rotational motion and the translational motion generated in the driving unit 160 to the sensor unit 110 even in a bent state. If the moving tube 120 is not torsionally resistant, the rotation angle difference inevitably occurs depending on the degree of torsion of the moving tube 120 provided between the rotation of the driving unit 160 and the rotation of the sensor unit 110. As a result, the accuracy of the signal generated from the sensor unit 110 is lowered.

According to the experiments of the present inventors, it is confirmed that the tube of general vinyl or plastic material is flexible, but the torsional stress is weak, so that a relatively large rotational error occurs between the driving unit 160 and the sensor unit 110. As a result of repeated experiments, by providing the reinforcing portion 144 that is woven in a mesh form on the outside of the tube such as a polymer on the outside of the moving tube body 142, the torsional stress is significantly increased, and as a result, the rotational error is significantly reduced. Here, the material of the reinforcing part 144 is not limited, but in the case of a metal material such as steel, it is more advantageous to increase the torsional stress.

3 illustrates a configuration in which a reinforcing part in the form of a steel mesh is formed on the outside of the moving tube, for example.

The fixed tube 150 is provided on the outside of the subject and is configured to surround at least a portion of the moving tube 120 to guide the longitudinal translational movement and the axial rotational movement of the moving tube 120. Here, it is preferable that the fixing pipe 150 is configured to be flexible as well as the movable pipe 120 to bend.

Since the fixed tube 150 and the movable tube 120 move relative to each other and friction occurs, it is preferable that a plurality of protrusions 154 are formed inside the fixed tube body 152 to reduce the friction caused by the friction. Do. In the present embodiment, as shown in FIG. 4, the protrusion 154 is formed in a loop shape formed along the circumference of the fixed tube 150.

As such, by forming the protrusion 154 inside the fixing tube 150, the friction between the fixing tube 150 and the moving tube 120 can be reduced.

On the other hand, unlike the above-described configuration, by forming a protrusion 154 on the outside of the moving tube 120 instead of the fixed tube 150, it is also possible to configure to reduce the friction between the fixed tube 150 and the moving tube 120. .

The drive unit 160 is connected to the other end portion of the above-described moving tube 120, and moves the moving tube 120 along the longitudinal direction of the tube and rotates along the axial direction of the tube as a result of the sensor unit 110 Drive.

Specifically, as shown in FIG. 5, the driving unit 160 includes a rotation driving unit 162, a rotating screw 164, a translation driving unit (not shown), and a fixed tube fixing unit 166.

The rotation driving unit 162 is coupled to the end portion of the moving tube 120 to rotate the moving tube 120, and moves with the moving tube 120. To this end, a driving means for rotation is provided inside the rotation driving unit 162.

As shown in FIG. 5, the rotating screw 164 is configured to be engaged with the rotation driving unit 162 and is disposed in a form penetrating the rotation driving unit 162. When the rotating screw 164 rotates, the rotary driving unit 162 engaged with the rotary screw 164 moves in the front and rear direction, and moves the moving tube 120 coupled to the rotary driving unit 162 in the front and rear directions.

In addition, guide shafts 168 penetrating through the rotation driving unit 162 are provided at both sides of the rotation screw 164 in the driving unit 160 to guide the longitudinal movement of the rotation driving unit 162.

On the other hand, although not shown, the translation drive unit rotates the rotary screw 164, so that the rotary screw 164 rotates.

The front end of the drive device is fixed tube fixing portion 166 is fixed to the end of the fixed tube 150 is formed in the fixed tube 150 is fixed, the moving tube 120 is a translational movement inside the fixed tube 150 and Allow for rotational movement.

In the drive unit 160, an encoder is provided inside the rotation driving unit 162, it is preferable to configure so as to detect the rotation of the moving tube (120).

Next, referring to Figure 6, the specific configuration of the above-described sensor unit 110 will be described.

The sensor unit 110 according to the present embodiment is rotatably coupled to both ends of the sensor body 112, the plurality of ultrasonic sensors 114 provided on the sensor body 112, and the sensor body 112. Guide unit 116 and a bearing (not shown) provided on the sensor body 112 and the guide unit 116.

As shown in FIG. 6, the sensor main body 112 is recessed to one side, and the ultrasonic sensor 114 is disposed on the groove.

In this way, the groove is formed in the sensor main body 112, it is possible to secure the distance required for sensing between the inner surface of the inspected object (P) and the ultrasonic sensor 114. In addition, both ends of the sensor body 112, as shown in Figure 6 is formed with a guide portion 116 of the outer surface radially projected so that the sensor body 112 can maintain a concentric state as a result Ensure accurate ultrasound scans.

On the other hand, the guide portion 116 is rotatably coupled by the sensor body 112 and the bearing, so that only the sensor body 112 is rotated for the detection of the subject P and the guide portion 116 is the length It is configured to move only in the direction.

Although not shown, the first moving tube 130 described above is connected to the connection portion 118 located at the end of the sensor body 112.

Next, with reference to Figure 7 will be described the structure and structure for the sealing tube bracket 170 for sealing.

In the present embodiment, the end of the fixed tube 150 is coupled to the fixed tube bracket 170 for selectively contacting the inspected object (P).

In addition, an outlet inlet 175 is formed in the fixed tube bracket 170 to allow the fluid to flow in and out of the space between the fixed tube 150 and the moving tube 120.

As described above, in order to detect the ultrasonic wave, a medium such as water must be filled in the object P. In the present embodiment, the fluid is introduced through the outlet inlet 175 and the fluid is discharged through the outlet inlet 175 after the inspection is completed.

A first sealing part 172 is provided at a portion where the fixed tube bracket 170 and the test object P contact each other to prevent the fluid from leaking outside.

On the other hand, in the case where the inspected object P is a heat pipe of a steam generator used in a nuclear power plant, since the water once filled into the inspected object P is contaminated by the radioactive material inside the inspected object P, the smallest amount of water It is advantageous in terms of cost and control that the water contact in the whole device is as small as possible.

According to this background, the present embodiment is provided with a second sealing portion 174 to block the flow of the fluid in the space between the fixed tube 150 and the moving tube 120.

The second sealing portion 174 can be configured in various forms, in this embodiment a plurality of contact ring 176 and the contact ring is fixed to the inside of the fixing pipe 150 bracket as shown in FIG. And a spacer 178 that maintains the spacing between the contact rings 176 between the 176.

In particular, in this embodiment, the contact ring 176 is composed of three, it is configured to enable a more complete sealing. In addition, the surface of the first moving tube 130 may be configured to smoothly seal the first moving tube 130 while effectively contacting the contact ring 176.

As such, this embodiment includes the second sealing portion 174, thereby minimizing the area of the mechanical device exposed to radioactive contamination, thereby reducing inspection cost and being more advantageous in terms of management.

When the ultrasonic inspection apparatus having the above-described configuration is used, the process of performing the ultrasonic inspection of the inspected object P will be described.

First, before performing the ultrasonic test, the sensor unit 110 is present inside the fixed tube bracket 170.

For ultrasonic inspection, the sensor unit 110 located in the fixed tube bracket 170 is held in the opening of the test object P by the hand of the machine or a person, and the sensor unit 110 drives the sensor. The unit 110 is rotated while pushing it to the inspection site inside the object P.

When the fixed tube bracket 170 is in close contact with the inspected object P by the first sealing part 172, the water to be a medium for inspection through the inlet 175 on the fixed tube bracket 170 is inspected. It flows inside.

The sensor unit 110 receives the operation of the driving unit 160 through the moving tube 120 to perform translational movement along the length direction, and rotates along the axial direction to detect inspection information inside the object P. .

The detected information is transmitted to and stored in a separate data storage means by a cable connected to the sensor unit 110.

At the end of the test, the fluid, which is a test medium, is discharged to the outside through the outlet inlet 175, and the sensor unit 110 is pulled into the fixed tube bracket 170 to return to the original position, and the device is moved to another test subject P. Move to perform ultrasound.

As described above, the preferred embodiments of the present invention have been described, and the fact that the present invention can be embodied in other specific forms in addition to the above-described embodiments without departing from the spirit or scope thereof has ordinary skill in the art. It is obvious to them.

 Therefore, the above-described embodiments should be regarded as illustrative rather than restrictive, and thus, the present invention is not limited to the above description and may be modified within the scope of the appended claims and their equivalents.

Ultrasonic inspection apparatus according to the present invention having the above configuration has the following effects.

First, by configuring the drive unit for driving the sensor unit as a separate device from the sensor unit and connecting them with a moving tube and a fixed tube therebetween, there is an advantage that can perform the ultrasonic test even if the space around the test object is narrow.

In particular, it is possible to flexibly configure the moving tube and the fixed tube, it is possible to perform a test on a variety of inspected objects without spatial constraints.

In addition, by providing a protrusion between the fixed tube and the moving tube, it is possible to minimize the friction loss due to the relative movement therebetween.

Second, when conducting an inspection on a subject exposed to a risk factor such as radioactivity, by filling only the minimum area necessary for the examination with the fluid required for the ultrasonic examination, radioactive contamination is minimized, and as a result, the inspection cost can be further reduced. There is an advantage that can be efficiently managed.

At the same time, the sealing part is constituted by a plurality of contact rings, thereby enabling a more complete sealing.

Third, the torsion stress can be improved by placing a reinforcement part in the form of a mesh on the outside of the moving tube. Therefore, there is an advantage that can accurately transmit the rotational force of the drive unit to the sensor unit as a result improve the accuracy of the ultrasonic inspection.

Fourth, the ultrasonic inspection apparatus has a relatively simple structure, easy maintenance, and there is an advantage that can reduce the cost because it does not need to use expensive components such as a small motor.

Claims (19)

In the ultrasonic inspection apparatus for determining the degree of corrosion of the subject by performing an ultrasonic test on the subject, A sensor unit inserted into the inspected object and performing ultrasonic inspection of the inspected object by using water provided in the inspected object as a medium; A moving tube having one side connected to the sensor unit and the other side extending out of the test object; A fixed tube provided outside the test object and surrounding at least a portion of the moving tube to guide the movement of the moving tube; And A driving unit connected to the other end portion of the moving tube and moving the moving tube along a longitudinal direction of the moving tube and rotating along the axial direction of the moving tube; Including, The moving tube, A first moving tube connected to the sensor unit and inserted into the test object; And A second moving tube connecting the first moving tube and the driving unit to each other and positioned outside the test object; Ultrasonic inspection apparatus comprising a. The method of claim 1, At least a portion of the moving tube and the fixed tube, the ultrasonic inspection device, characterized in that the flexible configuration. delete The method of claim 1, The first moving tube has a smaller diameter than the second moving tube; Ultrasonic inspection apparatus, characterized in that the joint between the first and second moving tube and the first moving tube and the second moving tube is provided. The method of claim 4, wherein The joint part, the ultrasonic inspection apparatus, characterized in that the step is formed corresponding to the diameter of the first moving tube and the second moving tube. The method of claim 1, Ultrasound inspection apparatus, characterized in that a plurality of protrusions formed on any one of the inner side of the fixed tube and the outer side of the moving tube. The method of claim 6, The protruding portion, the ultrasonic inspection apparatus, characterized in that the ring shape formed along the circumference of the fixed tube and the moving tube is formed in a repeated form. The method of claim 1, At least a portion of the moving tube, the ultrasonic inspection apparatus characterized in that the reinforcing portion is provided in the form of a mesh on the outside. The method of claim 8, The reinforcement unit, the ultrasonic inspection apparatus, characterized in that it comprises a metal material. The method of claim 1, Ultrasonic inspection apparatus further comprises a fixed tube bracket which is provided on the end side of the fixed tube is coupled to the fixed tube, the fixed tube can be in contact with the subject. The method of claim 10, The fixing tube bracket, the ultrasonic inspection apparatus characterized in that the outlet inlet is formed so that the fluid flows into the space between the fixed tube and the moving tube. The method of claim 10, Ultrasonic inspection apparatus, characterized in that the first sealing portion for preventing the outflow of the fluid is provided in the area where the fixed tube bracket is in contact with the test object. The method of claim 1, Ultrasonic inspection apparatus, characterized in that the space between the fixed tube and the moving tube is provided with a second sealing portion for blocking the flow of the fluid. The method of claim 13, The second sealing portion, the ultrasonic inspection apparatus, characterized in that provided on the end of the fixed tube is provided on the fixed tube bracket coupled to the fixed tube. The method of claim 14, The second sealing portion, A plurality of contact rings fixed to an inner surface of the fixing tube bracket; And At least one spacer provided between the plurality of contact rings to maintain a distance between the contact rings; Ultrasonic inspection apparatus comprising a. The method of claim 1, The drive unit, A rotation driving unit coupled to an end portion of the moving tube to rotate the moving tube and moving along the longitudinal direction of the moving tube together with the moving tube; A rotating screw configured to be engaged with the rotation driving unit and rotatably provided to move the rotation driving unit along a longitudinal direction of the moving tube; And A translation drive unit for rotating the rotating screw; Ultrasonic inspection apparatus comprising a. The method of claim 16, The driving unit is provided in front of the rotary drive unit, the ultrasonic inspection apparatus further comprises a fixed tube fixing portion for fixing the end of the fixed tube. The method of claim 16, The drive unit, the ultrasonic inspection apparatus further comprises at least one guide shaft for guiding the longitudinal movement of the rotary drive. The method of claim 1, The sensor unit, A sensor body having an ultrasonic sensor; And One or more guides rotatably coupled to the sensor body; Ultrasonic inspection apparatus comprising a.

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