JP2005181140A - Pipe inspection truck and pipe inspection device - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To provide a pipe inspection truck and a pipe inspection device, capable of being inserted to a pipe with a relatively small diameter and inspecting the whole circumferential and the whole surface of a pipe with high efficiency. <P>SOLUTION: An oblique tire type ultrasonic sensor 10, a built-in oblique probe mounted with an inclination of a predetermined angle relative to the advancing direction of a tire, is moved spirally to perform the flaw detection of the whole circumferential surface of the pipe, and the rolling speed is adjusted, according to the moving speed in the pipe axial direction, whereby the flaw detecting direction to the pipe axis is freely changed. A plurality of oblique sensors 10, differing in ultrasonic wave-emitting angle are mounted to detect the same defect simultaneously from a plurality of directions. Further, a second sensor truck 200, mounted with a vertical tire type ultrasonic sensor, is connected to the pipe inspection truck 100 mounted with the oblique sensor 10 to detect a defect, and the vertical sensor measures the property of a detected defect, while the second sensor truck is decelerated and moved at a low speed. <P>COPYRIGHT: (C)2005,JPO&NCIPI

Description

  The present invention relates to an in-pipe inspection carriage and an in-pipe inspection apparatus, and more particularly to an in-pipe inspection carriage and an in-pipe inspection apparatus that are inserted into a pipe and inspect the state of the pipe.

Conventionally, in-pipe inspections of steel pipe structures such as various pipelines (hereinafter collectively referred to as “pipelines”) made by connecting a plurality of steel pipes have been aged over time with the welding line connecting the steel pipes. Inspecting the progress of peeling and corrosion of the coating layer due to burial for many years. In order to properly operate and maintain the pipeline over a long period of time, it is desirable to inspect the entire circumference of the steel pipe and accurately grasp the situation.
For this reason, various in-pipe inspection apparatuses have been proposed. For example, there is known an apparatus for inspecting the entire surface of a steel pipe while inserting a pig equipped with leakage magnetic flux inspection means inside a pipeline and moving the pig using gas pressure or liquid pressure. However, when the pipeline branches off in the middle of the pig, or when the plug installed in the past repair work has popped out to the branch pipe side, sufficient pressure is applied to move the pig stably. There is a problem that there is a possibility of stopping during the movement (same as clogging) when there is not. Furthermore, there was a problem that launchers, receivers, etc. could not be installed in space.

FIG. 10 is a cross-sectional view showing a configuration of a conventional in-pipe inspection apparatus. The in-pipe inspection apparatus 900 includes a camera 903 for in-pipe inspection and a laser head 931, and an air nozzle 921 for injecting blast for air blast is attached to a rotary shaft 904 on which these are installed. The rotary shaft 904 rotates from 0 ° to 360 °, preferably about 370 °, and one of the rotary shafts 904 is connected to a rotary motor 970 via a spur gear 907.
The rotation motor 970 is fixed to a support portion 906, and each support portion 906 is supported on the inner wall 910 of the pipe 902 by a plurality of support wheels 905.
Further, a control signal is sent to each device (rotary motor 970, camera 903) through a control line 908, and a video signal of the camera 903 is sent to a computer or the like on the ground.

Accordingly, the in-pipe inspection apparatus is inserted into the pipeline, and the support portion 906 is supported in the pipe 902 by the support ring 905 coming into contact with the inner wall 910 of the pipe at a desired position. Then, the rotary motor 970 that has received a signal from the ground via the control line 908 rotates based on the signal, and the rotary shaft 904 connected to the spur gear rotates within a range of 370 ° while rotating the rotary shaft 904. The state of the inner wall 910 of the tube is visually inspected and transmitted outside the tube through a camera 903 attached to the tube. If a desired inspection device is mounted instead of the camera 903, a desired inspection can be performed on the inner wall 910 of the tube (for example, Patent Document 1).
Japanese Patent Laid-Open No. 6-347407 (page 3-4, FIG. 1)

However, since the technique described in Patent Document 1 rotates the camera 903 in a plane perpendicular to the tube axis, in order to project the entire inner wall of the tube 902, the support 906 moves in the tube axis direction. (Running) Start and stop, and rotation (forward rotation), stop, and reverse rotation (reverse rotation) of the camera 903 had to be performed alternately. For this reason, the continuity of each operation is lost, the work efficiency (efficiency of projecting images) decreases with the acceleration at the start and the deceleration at the stop, and each device breaks down due to such discontinuous operation There was a problem that it was easy to do. Furthermore, the camera cannot confirm the external corrosion of the tube.
In addition, when an inspection device that contacts the inner surface is mounted instead of the camera 903, it is necessary to separate the inspection device from the inner surface for the purpose of reducing frictional resistance when the support portion 906 is moved in the tube axis direction. For this reason, there are problems that the structure is complicated and inspection efficiency is lowered. On the other hand, if it is attempted to move the inspection device overcoming the frictional resistance, there is a problem that the drive motor of the support wheel 905 becomes large in capacity and the mechanism becomes large and weight increases, and the inspection device may be worn or damaged. There was a problem that increased.
Furthermore, when an ultrasonic sensor is mounted as an inspection device, there is a problem that it takes a long time to inspect if the entire circumference of the tube is to be inspected.

  The present invention has been made to solve such a problem, and can be inserted into a relatively small-diameter pipe, and can be inspected over the entire circumference of the pipe with high efficiency. The purpose is to obtain an inspection device.

The in-pipe inspection cart according to the present invention is as follows.
(1) A tire-type ultrasonic sensor that moves in a pipe and has a built-in oblique probe attached at a predetermined angle with respect to the traveling direction of the tire, and the tire-type ultrasonic sensor A support mechanism for contacting the wall, and a rolling mechanism for rolling the tire-type ultrasonic sensor so that the rolling speed can be changed around the tube axis,
The tire-type ultrasonic sensor can perform flaw detection on the entire circumferential surface of the pipe and adjust the rolling speed according to the moving speed in the pipe axis direction to freely change the flaw detection direction with respect to the pipe axis. It is characterized by.

(2) The tire type ultrasonic sensor is plural,
The oblique probe incorporated in the tire-type ultrasonic sensor is attached to be inclined so as to have different angles, and flaw detection is performed simultaneously from a plurality of directions.

(3) The tire-type ultrasonic sensor includes an ultrasonic transducer, a tire that contacts the tube and rotates in a tube axis direction, one end surface contacts the ultrasonic transducer, and the other end surface A vibrator front member that slides on the inner periphery of the tire;
One end face of the vibrator front member is inclined with respect to the radial direction of the tube.

(4) The cart has a rolling cylinder in which the tire-type ultrasonic sensor is installed, a fixed shaft that supports the rolling cylinder so as to freely roll, and an axis of the fixed shaft substantially coincides with the tube axis. Guide means for causing the rolling mechanism to roll the rolling cylinder about the fixed shaft.

(5) The tire is rotatably held by a tire holder, the tire holder is rotatably installed on the shaft, and the rotation center of the tire is deviated from the turning center of the tire holder in the tube axis direction. It is characterized by being.

(6) The guide means includes a guide roller, a support arm having one end rotatably mounted on the guide roller and the other end tiltably mounted on the fixed shaft, and slidably disposed on the fixed shaft. A substantially human-like shape formed by a movable outer cylinder and an opening / closing arm having one end pivotably installed at a substantially central portion of the support arm and the other end tiltably installed on the movable outer cylinder. A link mechanism,
Along with the tilting of the opening / closing arm due to the movement of the moving outer cylinder, the support arm tilts, and the guide roller advances and retreats in the radial direction with respect to the fixed shaft.

(7) The first guide means includes a rotatable guide roller and guide roller driving means for rotationally driving the guide roller.

Furthermore, the in-pipe inspection apparatus according to the present invention is as follows.
(8) having an in-pipe inspection cart that is one of the in-pipe inspection carts, and a second sensor cart coupled to the in-pipe inspection cart,
When the tire-type ultrasonic sensor mounted on the in-pipe inspection carriage detects the presence or absence of a defect in the pipe, the second sensor carriage decelerates and moves at a low speed when it reaches the defect detection position. A vertical ultrasonic sensor mounted on the sensor carriage rolls around the tube axis to inspect the defect.

Therefore, in the present invention, the flaw detection direction can be easily changed by changing the ratio of the traveling speed of the in-pipe inspection carriage and the rolling speed of the tire-type ultrasonic sensor. Further, the flaw detection of the entire circumferential surface of the tube is possible with one tire type ultrasonic sensor.
In addition, since flaw detection from a plurality of directions can be performed simultaneously, flaw detection accuracy is improved.
Further, in the in-pipe inspection apparatus that moves at high speed, it is detected that there is a defect in the pipe, and on the basis of the detection result, the property of the defect is measured in the second sensor carriage while decelerating and moving at low speed. The total time required for inspection is shortened.

Hereinafter, an in-pipe inspection cart will be described as a first embodiment, and an in-pipe inspection apparatus will be described as a second embodiment.
[Embodiment 1]

(In-pipe inspection cart)
1 and 2 are a side view and a front view showing the configuration of the in-pipe inspection cart according to the first embodiment of the present invention. 1 and 2, an in-pipe inspection cart 100 is provided with a tire-type ultrasonic sensor (which will be described separately hereinafter, referred to as a sensor), a sensor support mechanism 110 that supports the sensor, and a sensor support mechanism 110. The fixed shaft 120, a pair of guide means 130a and 130b installed before and after the fixed shaft 120, a rolling mechanism 150, and a rolling cylinder 160 are provided.

(Sensor support mechanism)
The sensor 10 is installed on the sensor support mechanism 110. The sensor support mechanism 110 includes a tire holder 111 having a substantially U-shaped cross section that supports the first central axis 11 of the sensor 10, and the tire holder 111 is centered on the radial direction of the fixed shaft 120 (same as the radial direction of the tube 2). A holder substrate 112 having a substantially U-shaped cross section that is pivotally supported, a holder flange 113 projecting to the outside of the upper end of the holder substrate 112, one end installed on the holder flange 113, and the other end installed on the fixed shaft 120. The air cylinder 114 is provided.

Therefore, the cylinder rod 115 of the air cylinder 114 can advance and retreat in the radial direction of the fixed shaft 120 (same as the radial direction of the tube 2). It is possible to adjust the pressure to be pressed against. Further, if the air cylinder 114 is retracted, the sensor 10 can be separated from the inner surface 2a.
In addition, if the center of the first central shaft 11 and the turning center of the tire holder 111 are offset (shifted) in the axial direction, the sensor 10 can be It moves easily following 2a.

  In the figure, six sensor support mechanisms 110 are equally arranged around the tube axis, but the number is not limited to this. Alternatively, the holder substrate 112 may be eliminated and the tire holder 111 may be directly installed on the cylinder rod 115 of the air cylinder 114. Further, instead of the air cylinder 114, a hydraulic cylinder, an electric cylinder, or a shock absorber using a spring may be used.

(Guide means)
Since the guide means 130a and 130b are the same, the following explanation will be made with the subscripts “a” and “b” omitted. In the figure, a part of the guide means 130a is shown in cross section.
The guide means 130 includes a guide roller 131 and a link mechanism 140 that supports the guide roller 131 so as to be able to advance and retract.
A fixed inner cylinder 121 is installed on the fixed shaft 120, and a movable outer cylinder 141 is slidably disposed on the outer periphery of the fixed inner cylinder 121. The movable outer cylinder 141 is formed with a cavity 142 (cylindrical shape parallel to the axis of the fixed shaft 120) in which compressed air can be enclosed, and the cavity 142 slides in an airtight manner on the inner wall of the cavity 142 to form two chambers 142. A partition flange 143 is provided on the fixed inner cylinder 121.
Then, compressed air set to a predetermined pressure by compressed air supply means (including a compression pump, a regulator, a switching valve, etc.) (not shown) is supplied to one chamber of the cavity 142, and compressed air is supplied from the other chamber. If discharged, the moving outer cylinder 141 moves. On the other hand, when compressed air is supplied to the other room and discharged from one room, the movable outer cylinder 141 moves to the one room side.

The link mechanism 140 includes a fixed flange 122 installed at the end of the fixed shaft 120, a support arm 144 whose one end P (hereinafter referred to as a fixed fulcrum P) is rotatably supported by the fixed flange 122, and one end Q is a substantially human character shape constituted by a first opening / closing arm 145 pivotally supported at an intermediate portion of the support arm 144. A guide roller 131 is rotatably installed at the other end R of the support arm 144, and the other end S (hereinafter referred to as a movement fulcrum S) of the opening / closing arm 145 is pivotally supported by the movable outer cylinder 141. ing.
Therefore, when compressed air is supplied to one room of the cavity 142 and the movable outer cylinder 141 moves and the distance between the fixed fulcrum P and the movable fulcrum S approaches, the angle at which the support arm 144 and the open / close arm 145 intersect is determined. Since the support arm 144 rises as it becomes smaller, the guide roller 131 projects outward from the axial center of the fixed shaft 120 in the radial direction. In contrast, when compressed air is supplied to the other chamber of the cavity 142 and the movable outer cylinder 141 moves in the opposite direction, and the distance between the fixed fulcrum P and the movable fulcrum S increases, the support arm 144 and the open / close arm 145 Since the angle at which the two intersect is increased and the support arm 144 falls, the guide roller 131 is pulled back radially inward from the axis of the fixed shaft 120. That is, it is a mechanism according to the umbrella opening and closing mechanism.

In FIG. 1 and FIG. 2, the four identical link mechanisms 140 are equally arranged around the circumference, so that each of them performs the same operation. Therefore, the four guide rollers 131 are centered on the axis of the fixed shaft 120. Will be located on the concentric circles. Since the compressed air is set to a predetermined pressure, the guide roller 131 protrudes until it abuts against the inner wall of the tube 2 and is pressed against the inner wall with a predetermined force.
Therefore, since the guide means 130a and 130b are respectively installed in front and rear of the fixed shaft 120, the center of the fixed shaft 120 is parallel to the tube axis of the tube 2, that is, is centered. It will be. The number of link mechanisms 140 installed is not limited to four, but may be three or more.

(Rolling cylinder)
The rolling cylinder 160 is supported by the fixed shaft 120 so as to freely roll, and the air cylinder 114 of the sensor support mechanism 110 is installed on the outer periphery thereof. A slip ring (not shown) is arranged between the rolling cylinder 160 and the fixed shaft 120, and a measurement signal generated by the sensor 10 is transmitted to the fixed shaft 120 side. Further, the compressed air supplied to the air cylinder 114 is provided in an air discharge chamber provided in the fixed shaft 120 and an air receiving chamber (inner circumference of the rolling cylinder 160) that is airtightly connected to the air discharge chamber. (Not shown).

(Rolling mechanism)
The rolling mechanism 150 includes a rolling motor 151, a driving gear 152 fixed to the rotation shaft of the rolling motor 151, and a driven gear 162 (meshing with the driving gear 152) fixed to the rolling cylinder 160. Have. The rolling motor 151 is fixed to the fixed shaft 120 or fixed to a fixed flange 122 installed at the end of the fixed shaft 120, and is rotationally controlled at a predetermined rotational speed corresponding to the traveling speed of the in-pipe inspection apparatus 1. Yes.
Accordingly, the sensor 10 spirally moves in the tube 2 as the in-tube inspection device 1 travels. At this time, since the sensor 10 is supported by the sensor support mechanism 110 having a caster function, the sensor 10 easily follows the traveling direction of the tire 13 and smoothly rotates. The holder substrate 112 may be removed and the sensor 10 may be installed on the cylinder rod 115.

(Sensor)
FIGS. 3A and 3B are cross-sectional views illustrating the embodiment of the sensor shown in FIG. 1, wherein FIG. 3A is a plan view, FIG. 3B is a front view, and FIG.
In FIG. 3, the sensor 10 is a sensor (hereinafter referred to as a sensor), and the sensor 10 includes a central shaft 11, a tire 13 that is rotatably installed on the central shaft 11, and an ultra-high device that is installed on the central shaft 11. It has a sonic transducer 15 and a transducer front member 17 installed on the central axis 11. The end face 16 near the central axis 11 of the vibrator front member 17 is in contact with the ultrasonic vibrator 15 and the other end face 18 slides on the inner periphery 12 of the tire 13. The tire 13 and the vibrator front member 17 are made of butadiene rubber with extremely small attenuation of passing ultrasonic waves, and are urged so as to be in close contact with each other through a film of an ultrasonic transmission material such as silicone oil.

  Therefore, when the tire 13 of the sensor 10 is pressed against the inner surface 2 of the pipe 2 and moved, the tire 13 rotates, so that the movement is smooth and local wear of the contact portion can be prevented. When an ultrasonic beam is emitted from the non-rotating ultrasonic transducer 15, the ultrasonic beam passes through the non-rotating transducer front surface 17, the ultrasonic transmission material coating, and the rotating tire 13 to within the plate thickness of the tube 2. Further, the reflected wave is received by the ultrasonic vibrator 15 through the tire 13, the coating of the ultrasonic transmission material, and the vibrator front member 17, so that the tube defect, in particular, It becomes possible to detect a “crack” that cannot be detected by vertical flaw detection.

Further, since the outer periphery 14 of the tire 13 is formed in an arc shape in cross section, the tire 13 comes into contact with the pipe 2 at a position B (hereinafter referred to as a contact point) farthest from the central axis 11. Hereinafter, for explanation, the center of the ultrasonic transducer 15 is the position A, the axis direction of the central axis 11 is the Z direction, the center of the central axis 11 in the Z direction is the position C, and the line connecting the position B and the position C Is the X direction, and the direction perpendicular to both the X direction and the Z direction is the Y direction.
At this time, the direction of the ultrasonic beam emitted by the ultrasonic transducer 15 is the same as the line connecting the position A and the contact point B, and is inclined by the traveling inclination angle β in plan view with respect to the XY plane. (See FIG. 3A), tilted by a left / right tilt angle φ in front view with respect to the XY plane (see FIG. 3B), and tilted back and forth in side view with respect to the XZ plane. It is inclined by an angle θ (see FIG. 3C).

(Propagation of ultrasonic beam)
4A and 4B show the propagation of the ultrasonic beam emitted by the sensor shown in FIG. 3, wherein FIG. 4A is a sectional view, FIG. 4B is a sectional view showing a data collection range, and FIG. 4C is a side view. It is. As described above, the ultrasonic transducer 15 is inclined by the traveling inclination angle β, the left-right inclination angle φ, and the front-rear inclination angle θ and emits an ultrasonic beam toward the contact point B. The beam is refracted and propagates in an oblique direction with respect to the tube thickness.

In FIG. 4 (a), the ultrasonic beam travels in a zigzag direction in the left direction in the figure while being reflected by the inner surface 2a and the outer surface 2b of the tube, and the width in the traveling direction increases with the progress. It is spreading. For this reason, if it advances only a predetermined distance, the ultrasonic beam which advances zigzag will be irradiated to the inner surface 2a and the outer surface 2b of the pipe | tube 2 without a clearance gap.
Accordingly, a distance that allows the inner surface 2a and the outer surface 2b to be irradiated without gaps in the traveling direction of the ultrasonic beam, and a range that is away from the contact point B is referred to as a “tube thickness data collection range” ((b in FIG. 4). )reference).
In FIG. 4C, for example, when the sensor 10 moves spirally in the tube axis direction and the ultrasonic beam is emitted in the tube axis direction, the ultrasonic beam is in the tube axis direction of the tube 2 as described above. While proceeding in a zigzag direction (to the left in the figure), the width also increases in the radial direction of the pipe 2 (up and down in the figure).

FIG. 5 is a schematic diagram for explaining the moving direction and moving speed of the sensors shown in FIGS.
In FIG. 5, the tire 13 moves in an oblique direction with respect to the tube axis by a spiral angle α <b> 1, and the emission direction of the ultrasonic beam of the ultrasonic transducer 15 is a traveling inclination angle β with respect to the moving direction of the tire 13. Therefore, the emission direction of the ultrasonic beam is inclined by (α−β) with respect to the tube axis. When the spiral angle α is equal to the traveling inclination angle β, the ultrasonic beam is emitted in the tube axis direction.

Here, conditions for the sensor 10 not to slide on the inner surface 2a of the tube 2 in the tube axis direction are shown. When the rolling angular velocity around the fixed shaft 120 of the rolling cylinder 160 is ω1 (rad / sec) and the traveling speed in the direction of the tube axis of the in-pipe inspection apparatus 1 is v1 (m / sec), the moving direction of the sensor 10 is Against tube axis
tanα = R · ω1 / v1
Is inclined by the spiral angle α.
Therefore, if the direction of the tire 13 of the sensor 10 is inclined with respect to the tube axis by the spiral angle α, the tire 13 will not slide on the inner surface of the tube 2 in the axial direction (at this time, the tire 13 The axis of the central axis 11 is inclined by (π / 2−α) with respect to the tube axis of the tube 2).

  As described above, for the ultrasonic beam emitted obliquely, the sensor 10 moves around the tube axis while the in-tube inspection carriage 100 moves a distance corresponding to the distance in the tube axis direction of the “data collection range”. If it rotates more than the rotation, the entire circumferential surface of the tube 2 is scanned by one sensor 10.

FIG. 6 is a partial development view illustrating another arrangement form of sensors in the in-pipe inspection apparatus according to the embodiment of the present invention. In FIG. 6, five sensors 10 are equally arranged in the circumferential direction on a rolling cylinder 160 (not shown), and the respective traveling inclination angles β are β1, β2, β3, β4, β5, and the spiral angle is α. .
At this time, since one defect can be simultaneously inspected from a plurality of flaw detection directions (directions of ultrasonic beams), the defect detection capability is improved.
Although FIG. 6 shows a case where five sensors 10 are installed, the number of installed sensors is not limited to this. Moreover, although the penetration defect in a circumferential direction weld and a crack, a planar corrosion defect, the damage trace in other construction, etc. are shown, the defect to detect is not limited to this.

[Embodiment 2]
(In-pipe inspection device)
FIG. 7 is a side view showing the configuration of the in-pipe inspection apparatus according to Embodiment 2 of the present invention. In FIG. 7, the in-pipe inspection apparatus 1 includes a traction carriage 300, a tire-type ultrasonic sensor carriage 100, a second sensor carriage 200, and an auxiliary carriage 400 that are connected to each other so as to be freely bent.
The tire-type ultrasonic sensor carriage 100 is equipped with a tire-type ultrasonic sensor 10 that detects whether or not the pipe 2 has a defect, and the second sensor carriage 200 indicates the nature of the defect detected by the tire-type ultrasonic sensor. A second sensor 20 to be measured is mounted. The tow truck 300 includes a driving means for rotationally driving the front monitoring camera 30 and the traveling wheel 310, and a control means (not shown) for receiving a defect detection signal from the tire-type ultrasonic sensor 10 and controlling the traveling speed of the in-pipe inspection apparatus 1. Not) is installed. The auxiliary cart 400 is equipped with a flaw detector (not shown).
In addition, since the tire type ultrasonic sensor carriage 100 is the same as the in-pipe inspection carriage 100 in the first embodiment, the description thereof is omitted. In the figure, a plurality of tire-type ultrasonic sensors 10 are described, but the number may be any one or more.

(Second sensor cart)
The second sensor carriage is equipped with a second sensor, and is the same as the sensor 10 provided in the in-pipe inspection carriage 100 replaced with the second sensor. The same parts as those of the inspection cart 100 are denoted by the same reference numerals in the last two digits, and the names are denoted by the second, and are read.

(Second sensor)
FIGS. 8A and 8B are diagrams for explaining the embodiment of the second sensor shown in FIG. 7, wherein FIG. 8A is a front sectional view showing the configuration, and FIG. 8B is a side sectional view showing the configuration.
In the figure, the second sensor 20 is a tire-type ultrasonic sensor, and the second tire-type ultrasonic sensor 20 is a second central shaft 21 and a second tire 23 that is rotatably installed on the second central shaft 21. And a second ultrasonic transducer 25 installed on the second central axis 21 and a second transducer front member 27 installed on the second central axis 21. The end face 26 of the second vibrator front member 27 near the second central axis 21 abuts on the second ultrasonic vibrator 25 and the other end face 28 slides on the inner periphery 22 of the second tire 23.

In addition, since the outer periphery 24 of the second tire 23 is formed in an arc shape in cross section, it comes into contact with the pipe 2 at a position F (hereinafter referred to as a contact point) farthest from the second central axis 21.
The end face 26 of the second vibrator front member 27 is perpendicular to the line connecting the axis of the second central shaft 21 and the contact point F (parallel to the axial direction of the second central shaft 21 and the tube axis direction of the tube 2). ). Therefore, since the second ultrasonic transducer 25 emits an ultrasonic beam toward the contact point F, the ultrasonic beam is propagated vertically to the tube 2 at the contact point F, and the tube 2 is in the thickness direction, that is, the tube 2. Will propagate toward the center of the tube axis (downward in the figure, the same in the circumferential direction of the tube 2). Since the second tire 23 is elastically deformed at the time of contact, the actual contact portion has a predetermined width in the axial direction and the circumferential direction of the second central shaft 21.

The ultrasonic beam incident from the inner surface 2 a of the tube 2 is reflected on the outer surface 2 b and is incident on the second tire type ultrasonic sensor 20. Accordingly, when the second tire 23 of the second tire type ultrasonic sensor 20 is pressed against the inner surface 2a of the pipe 2 and moved, the second tire 23 rotates, so that the movement is smooth and local wear of the abutting portion. Can be prevented.
When an ultrasonic beam is emitted in the vertical direction from the second ultrasonic transducer 25 that does not rotate, the ultrasonic beam does not rotate, the second transducer front material 27, the coating of the ultrasonic transmission material, and the rotating second tire 23. And the reflected wave is received by the second ultrasonic transducer 25 through the second tire 23, the coating of the ultrasonic transmission material, and the second transducer front member 27. Thus, tube defects and plate thickness are detected.

(Scanning range of the second sensor)
FIG. 9 is a partial development view for explaining the scanning range of the second sensor in the in-pipe inspection apparatus according to the embodiment of the present invention.
First, conditions for preventing the second tire-type ultrasonic sensor 20 from sliding on the inner surface 2a of the tube 2 in the tube axis direction will be described.
In FIG. 9, the number of second tire-type ultrasonic sensors 20 equally arranged in the circumferential direction on the rolling cylinder 240 is N, and the second rolling angular velocity around the second fixed shaft 220 of the rolling cylinder 240 is When the second traveling speed in the direction of the tube axis of the in-pipe inspection apparatus 2 is v2 (m / sec) at ω2 (rad / sec), the moving direction of the second tire type ultrasonic sensor 20 is relative to the tube axis.
tanα2 = R · ω2 / v2
Is inclined by the second spiral angle α2. Accordingly, if the direction of the second tire 23 of the second tire type ultrasonic sensor 20 is inclined with respect to the tube axis by the second helical angle α2, the second tire 23 axially extends the inner surface of the tube 2. (At this time, the axis of the second central axis 21 of the second tire 23 is inclined by (π / 2−α2) with respect to the tube axis of the tube 2).

  Next, conditions for the second tire type ultrasonic sensor 20 to scan (cover) the entire inner surface 2a will be described. The inspection visual field of the second tire type ultrasonic sensor 20 is assumed to be substantially linear, parallel to the axis of the second central axis 21, and the length is assumed to be L (m). The inspection field of view of each of the second tire type ultrasonic sensors 20 is indicated by F1, F2, F3, etc., and the front side in the traveling direction (right side in the figure) is the position G1, G2, G3, etc., the traveling direction side (left side in the figure). ) Are indicated by positions H1, H2, H3, and the like.

  The second tire-type ultrasonic sensor 20 rotates 2 · π / N, and, for example, inspection fields F1, F2, F3, etc. are respectively new inspection fields FF1 (range connecting positions GG1 and BB1), FF2 (position GG2 and When moving to FF3 (range connecting BB2), FF3 (range connecting positions GG3 and BB3, not shown), the inspection visual field F1 scans the range formed by the positions G1, H1, HH1, and GG1. Similarly, the inspection visual fields F2, F3, and the like scan the range formed by the positions G2, H2, HH2, and GG2, the range formed by the positions G3, H3, HH3, and GG3, and the like.

At this time, in order for a part of these scanning ranges to touch or overlap (indicated by hatching in the figure), from the above formula,
v2 ≦ L ・ ω2 ・ N / (2 ・ π ・ R ・ cosα2)
Therefore, when the second rolling angular velocity ω2 and the second traveling speed v2 are given,
L ≧ 2 ・ π ・ R / cosα2
It is necessary to have an inspection visual field larger than a certain size.
In FIG. 9, when the second tire type ultrasonic sensor 20 is rotated by 2 · π / N, the overlapping range is indicated by hatching, and the hatching range is rectangular. However, since the second tire-type ultrasonic sensor 20 continuously rolls many times, the overlapping range (shaded area) is extended in a band shape, and the inner surface 2a of the tube 2 has a multiple spiral. It is presented. When only one second tire type ultrasonic sensor 20 is mounted, N = 1 in the above formula.

(Traction truck)
The traction carriage 300 (see FIG. 1) is self-propelled by pressing the running tire 310 against the inner surface 2a of the pipe 2 by an air cylinder (not shown) and rotationally driving the running tire 310 by a drive motor (not shown). Note that. Electric power for the drive motor is supplied from the ground via the cable 500.
Moreover, the monitoring camera 30 for monitoring the inner surface 2a of the pipe | tube 2 is mounted, and is monitoring the driving | running | working front. Therefore, when it is discovered that there is a bent pipe part (bend) in front of traveling, the air cylinder 114 and the second air cylinder 214 are retracted, and the tire-type ultrasonic sensors 10 and 20 are retracted (reduced diameter). Therefore, passage can be facilitated. Also, when a pipe or a root of a branch pipe protrudes from the inside of the pipe 2, this is similarly avoided.
Further, when the tire-type ultrasonic sensor 10 detects a defect, the tire-type ultrasonic sensor 10 receives the defect detection signal, decelerates the traveling speed in the detected range of the defect, and the second sensor cart 200 detects the defect. A control device that emits a predetermined signal for measuring the properties may be mounted on the traction cart 300.

(Auxiliary cart)
The auxiliary cart 400 (see FIG. 1) is connected to the second sensor cart 200 and is pulled by the towing cart 300 via the in-pipe inspection cart 100, and includes the tire-type ultrasonic sensor 10 (diagonal flaw detection) and the tire. A flaw detector (amplifier) to which a signal from the type ultrasonic sensor 10 (vertical flaw detection) is input is mounted.
The flaw detector may be a separate one connected to each of the tire-type ultrasonic sensor 10 or the tire-type ultrasonic sensor 10, or may be common to both and appropriately (low-speed moving). It may be switchable.

(In-pipe inspection method)
As described above, since the in-pipe inspection apparatus 1 performs the oblique flaw detection while pressing the tire-type ultrasonic sensor 10 installed in the in-pipe inspection cart 100 against the inner surface 2a and moving in a spiral shape, the data collection range is wide. It is possible to cover the entire circumference of the inner surface 2a with the minimum number of installed units, and to inspect for defects, particularly “cracking” while traveling at high speed.
When the tire-type ultrasonic sensor 10 detects that a defect exists in the pipe 2, the in-pipe inspection apparatus 1 moves at a low speed and moves in a spiral manner within a range where the defect exists. Since the vertical flaw detection is performed by pressing 20 against the inner surface 2a, the property of the defect (particularly, the local thickness reduction) is measured. Further, after passing through the range where the defect exists, the in-pipe inspection apparatus 1 again inspects the presence or absence of the defect by the tire-type ultrasonic sensor 10 while moving at a high speed.
Therefore, the in-pipe inspection apparatus 1 can be moved at a high speed in order to move the in-pipe inspection apparatus 1 at a low speed and detect the presence / absence of a defect only for the defect property measurement. improves.

In the in-pipe inspection apparatus 1, the in-pipe inspection carriage 100 and the second sensor carriage 200 are pulled by the pulling carriage 300, and guide roller driving means is installed in the in-pipe inspection carriage 100 to rotate the guide roller 131. If driven and free-running, the tow cart 300 can be removed. Further, both the guide roller 131 of the in-pipe inspection cart 100 and the second guide roller 231 of the second sensor cart 200 may be rotationally driven.
In addition, the auxiliary cart 400 may be abolished by transferring various devices mounted on the auxiliary cart 400 to one or both of the in-pipe inspection cart 100 and the second sensor cart 200.

Furthermore, the tire-type ultrasonic sensor support mechanism 110 and the second sensor support mechanism 210 may be installed in the rolling cylinder 160 of the in-pipe inspection cart 100, and the second sensor cart 200 may be removed.
At this time, first, the tire-type ultrasonic sensor 10 is brought into contact with the inner surface 2a of the tube 2 at a predetermined spiral angle, and travels at a high speed while rolling the rolling cylinder 160 at a predetermined rolling angular velocity. When the tire-type ultrasonic sensor 10 detects a defect, the second sensor 20 is brought into contact with the inner surface 2a of the pipe 2 at a predetermined second spiral angle, and the rolling cylinder 160 is moved at a predetermined second rolling angular velocity. You will run at low speed while rolling. And after passing the range which the tire type ultrasonic sensor 10 detected the defect, it will drive | work at high speed again.

  Further, the tire type ultrasonic sensor has one vibrator front member 17 and the second sensor has one vibrator front member 27. The tire type ultrasonic sensor vibrates with the vibrator front member 17 and vibrates. A child front member 27 may be provided. At this time, a sensor having the vibrator front member 17 and the vibrator front member 27 can be installed in the in-pipe inspection carriage 100 and the second sensor carriage 200 can be removed. Then, when the ultrasonic transducer 15 in contact with the transducer front surface material 17 (diagonal flaw detection) detects a defect, the spiral angle of the sensor is changed, and the in-pipe inspection cart 100 travels at a reduced low speed. On the other hand, the ultrasonic transducer 25 (performing vertical flaw detection) in contact with the second transducer front material 27 measures the property of the defect.

  As described above, according to the present invention, it can be widely used for inspection of the inner surface of a pipe in a pipeline for transporting various fluids such as gas and liquid, and various structures having a pipe.

It is a side view which shows the structure of the in-pipe inspection apparatus which concerns on Embodiment 1 of this invention. It is a front view which shows the structure of the in-pipe inspection apparatus which concerns on Embodiment 1 of this invention. It is sectional drawing explaining the Example of a tire type ultrasonic sensor. It is sectional drawing which shows the propagation of an ultrasonic beam, and a data collection range. It is a schematic diagram explaining the moving direction and moving speed of a tire type ultrasonic sensor. It is a partial development figure explaining other arrangement forms of a tire type ultrasonic sensor. It is a side view which shows the structure of the in-pipe inspection apparatus which concerns on Embodiment 2 of this invention. It is sectional drawing which shows the structure of the Example of a 2nd sensor. It is a partial expanded view explaining the scanning range of the 2nd sensor. It is sectional drawing which shows the structure of the conventional in-pipe inspection apparatus.

Explanation of symbols

1: In-pipe inspection device, 2: Tube, 2a: Inner surface, 2b: Inner surface, 2b: Outer surface, 10: Tire-type ultrasonic sensor, 11: Central shaft, 12: Fixed shaft, 13: Tire, 15: Ultrasonic transducer 17: vibrator front material, 20: second sensor, 30: front monitoring camera, 100: in-pipe inspection cart, 110: sensor support mechanism, 120: fixed shaft, 130: guide means, 140: link mechanism, 150: rolling 160: rolling cylinder, 200: second sensor carriage, 300: traction carriage, 400: auxiliary carriage, 500: cable.

Claims (8)

An in-pipe inspection carriage that moves in a pipe, and includes a tire-type ultrasonic sensor that includes a bevel-type probe that is attached at an angle with respect to a tire traveling direction, and the tire-type ultrasonic sensor is connected to a pipe wall. A rolling mechanism for rolling the tire-type ultrasonic sensor so that the rolling speed can be freely changed around the tube axis,
The tire-type ultrasonic sensor can perform flaw detection on the entire circumferential surface of the pipe and adjust the rolling speed according to the moving speed in the pipe axis direction to freely change the flaw detection direction with respect to the pipe axis. In-pipe inspection cart characterized by The tire type ultrasonic sensor is plural,
The oblique probe incorporated in the tire-type ultrasonic sensor is attached to be inclined at different angles, and flaw detection from a plurality of directions is performed simultaneously. In-car inspection cart. The tire-type ultrasonic sensor includes an ultrasonic vibrator, a tire that abuts on the tube and rotates in a tube axis direction, one end face abuts on the ultrasonic vibrator, and the other end face is an inner side of the tire. A vibrator front material that slides around the circumference,
The in-pipe inspection carriage according to claim 1 or 2, wherein one end face of the vibrator front member is inclined with respect to a radial direction of the pipe.   The cart has a rolling cylinder in which the tire-type ultrasonic sensor is installed, a fixed shaft that rotatably supports the rolling cylinder, and guide means for causing the axis of the fixed shaft to substantially coincide with the tube axis. The in-pipe inspection cart according to any one of claims 1 to 3, wherein the rolling mechanism rolls the rolling cylinder about the fixed shaft.   The tire is rotatably held by a tire holder, the tire holder is rotatably installed on the shaft, and the rotation center of the tire is deviated from the turning center of the tire holder in the tube axis direction. The in-pipe inspection cart according to any one of claims 1 to 4. The guide means includes a guide roller, a support arm having one end rotatably mounted on the guide roller and the other end tiltably mounted on the fixed shaft, and a movement slidably disposed on the fixed shaft. A substantially human-like link mechanism comprising an outer cylinder and an opening / closing arm having one end pivotably installed at a substantially central portion of the support arm and the other end tiltably installed on the movable outer cylinder. Have
The in-pipe inspection according to claim 4, wherein the support arm tilts and the guide roller advances and retreats in the radial direction with respect to the fixed shaft as the opening / closing arm tilts due to the movement of the movable outer cylinder. Trolley.   7. The in-pipe inspection carriage according to claim 6, wherein the first guide means includes a rotatable guide roller and guide roller driving means for rotationally driving the guide roller. An in-pipe inspection carriage according to any one of claims 1 to 7, and a second sensor carriage coupled to the in-pipe inspection carriage,
When the tire-type ultrasonic sensor mounted on the in-pipe inspection carriage detects the presence or absence of a defect in the pipe, the second sensor carriage decelerates and moves at a low speed when it reaches the defect detection position. An in-pipe inspection apparatus characterized in that a vertical ultrasonic sensor mounted on a sensor carriage rolls around a pipe axis and inspects the defect.

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