JP3762156B2 - Pipe inspection device - Google Patents

Description

[0001]
BACKGROUND OF THE INVENTION
The present invention relates to an inspection device such as a heat exchanger tube of a heat exchanger arranged in a boiler or a garbage incineration facility, and in particular, inspects a thinning state of the outer surface of a heat exchanger tube arranged horizontally and staggered. The present invention relates to a tube inspection apparatus suitable for the above.
[0002]
[Prior art]
Boiler heat exchanger tubes are regularly inspected because they can be corroded and worn by long-term use, leading to thinning of the outer surface of the tubes.
[0003]
Conventionally, as a method for inspecting such a thinning state by non-destructive means, for example, an inspection apparatus main body that moves along a rail laid on the uppermost pipe of a group of horizontally arranged boiler steel pipes, It consists of an optical inspection means provided in the inspection apparatus main body, and is an inspection object among an apparatus (Japanese Patent Laid-Open No. 9-203611) or a steel pipe group that inspects while moving the optical inspection means in the vertical direction and the horizontal direction. An apparatus having optical inspection means attached to a flexible arm after aligning two adjacent rows of tubes in the vertical direction, and inspecting the optical inspection means while moving in the vertical direction (Japanese Patent Laid-Open No. 9-257714) Publication) etc. are known.
[0004]
[Problems to be solved by the invention]
By the way, the horizontal heat exchanger tubes are not only arranged in a narrow boiler, but also arranged in a staggered manner in the vertical direction to increase the heat transfer efficiency, and also bend in the process of using for a long time. There are things to do.
[0005]
Therefore, in the conventional apparatus for inspecting while moving the optical inspection means provided in the inspection apparatus main body moving along the rail laid on the pipe in the vertical direction and the horizontal direction, the rail is installed in a narrow boiler. It takes a lot of time. Further, in the method using the pantograph for the vertical movement of the optical inspection means, it is difficult to insert the optical inspection means deep into the heat exchanger tube group arranged in a staggered manner in the vertical direction, and the lower pipe cannot be inspected sufficiently. In addition, the method of using a traverse to move the optical inspection means in the horizontal direction cannot sufficiently follow the curvature of the heat exchanger tube, and the inspection accuracy can be lowered.
[0006]
On the other hand, in an apparatus for inspecting while moving the optical inspection means attached to the flexible arm in the vertical direction after aligning two adjacent rows of pipes to be inspected in the steel pipe group in the vertical direction, the weight of the flexible arm is used. Since the flexible arm is lowered, there is a problem that it is difficult to insert the flexible arm deeply into the group of steel pipes arranged in a staggered manner in the vertical direction, and the inspection of the lower pipe cannot be performed sufficiently.
[0007]
The problem of the present invention is that even if the heat exchanger tubes are arranged in a staggered manner in the vertical direction, and even if the heat exchanger tubes are curved, there is no need to perform inspection-related work such as laying rails. It is another object of the present invention to provide a pipe inspection apparatus capable of sufficiently inspecting the thickness reduction to the lower pipe.
[0008]
[Means for Solving the Problems]
The object of the present invention is to provide a first moving means for moving the uppermost tube in the heat exchanger tube group arranged horizontally in a multi-stage arrangement, and one end of which is freely rotatable to the first moving device. is connected to, and the other end moves the manipulator to move along the inspection tube, the upper the manipulator, with a drivable wheel while Sewwa on the inspection tube within the heat exchanger tubes The problem is solved by a pipe inspection device that includes a second moving means and a non-destructive inspection means that non-destructively inspects the pipe mounted on the second moving means.
[0009]
Further, the pipe inspection apparatus of the present invention includes a display means for outputting and displaying the position inspected by the nondestructive inspection means based on the position information of the first moving means and the second moving means and / or the non-displaying means. If the storage unit stores the position information inspected by the destructive inspection unit, the inspection result can be easily recognized.
[0010]
In addition, the non-destructive inspection means that is mounted on the second moving means of the tube inspection apparatus of the present invention and inspects the tube nondestructively is an optical sensor, ultrasonic sensor, or radiation (X-ray, γ Various sensors such as a sensor such as a beam, a neutron beam, etc., or an optical sensor that indirectly inspects reflected light of a tube through a mirror or the like can be used. In particular, when a sensor for inspecting indirectly is used, it can be advantageously used when the tube is arranged in a narrow place.
[0011]
Further, the first moving means is provided with one or more drive wheels that move along the uppermost tube in the heat exchanger tube group, and when each drive wheel is suspended independently, the uppermost tube is bent. Even so, the driving force of the driving wheels can be reliably transmitted to the uppermost tube, and the first moving means can move smoothly.
[0012]
The present invention is not limited to heat transfer tubes arranged in a boiler or waste incineration facility, but is also applied to a heat exchanger such as an air conditioner.
[0013]
[Action]
According to the above configuration, the non-destructive inspection means is moved by the first moving means that moves with the uppermost tube as a rail via the second moving device and the manipulator. There is no need to lay rails.
[0014]
Since the manipulator is rotatably connected to the first moving means, the non-destructive inspection means mounted on the second moving means can be inserted deeply into the heat exchanger tube group arranged in a staggered manner in the vertical direction. Therefore, it is possible to solve the problem that the lower pipe cannot be sufficiently inspected.
[0015]
Since the second moving means equipped with the non-destructive inspection means is adapted to move along the inspection tube, the non-destructive inspection means can follow the inspection tube even if the inspection tube is curved. As a result, the inspection accuracy does not decrease.
[0016]
DETAILED DESCRIPTION OF THE INVENTION
Hereinafter, a pipe inspection apparatus according to an embodiment of the present invention will be described with reference to the drawings.
1 is a front view for explaining the overall configuration of the inspection apparatus, FIG. 2 is a view taken along the line AA of FIG. 1 for explaining the first moving means in detail, and FIG. 3 is a drive moving along the uppermost tube. FIG. 4 is a side view of the driving unit of the manipulator connected to the first moving means, and FIG. 5 is a longitudinal section of the second moving means. 6 is a view taken along the line CC of FIG. 5, and FIG. 7 is a partially enlarged view of FIG.
[0017]
The heat exchanger tube group 1 is arranged in a high-temperature gas flow path from a furnace surrounded on all sides by a heat transfer wall, and FIG. 1 is a view of them as seen from the tube cross-sectional direction, and FIG. The longitudinal direction of the tube is shown.
[0018]
As shown in FIG. 1 and FIG. 2, the first moving means 2 that moves along the uppermost tube 1a of the heat exchanger tube group 1 arranged in a staggered manner in the up-down direction causes the driving force of the motor 3a to be 4 by a pulley 3b. A sensor 5a for measuring the moving distance in the tube axis direction and a sensor 5b for measuring the moving distance in the vertical direction are provided, which are transmitted to one of the drive wheels 4 and moved, and as shown in FIG. A stand 8 is provided which is rotatably connected at one end via a shaft 7. The manipulator 6 is provided with a motor 3c disposed at a stand 8 on the first moving means 2 at one end thereof, and extends through the opening 2a provided in the first moving means 2 in the direction of the test tube 1a. Here, as shown in FIG. 3, even if the uppermost tube 1a is curved, the four driving wheels 4 are surely in contact with the uppermost tube 1a and do not run idle. This is a slide-type independent suspension structure in which the rotating shaft 4 a is pressed by a spring 18.
[0019]
The second moving means 9 supporting the other end of the manipulator 6 includes a slave wheel 10 that slides on the tube 1b to be inspected and an optical camera 11, and is driven by a motor 3c via a screw 17 and a slider 12, It can be moved up and down on the manipulator 6 to move deep into the heat exchanger tube group 1. Further, as shown in FIGS. 5 and 6, the second moving means 9 is structured to slide freely with the slider 12 so that it can follow even if the tube 1b to be inspected is curved. As shown in the sectional view of FIG. 5, the follower wheel 10 has a rotating shaft 10 a that is supported at both ends by a support member 12 a that is integral with the slider 12. The optical cameras 11 a and 11 b are arranged at the bottom of the manipulator 6.
[0020]
Then, the signal instructed from the remote controller 13 is controlled by the control device 14, and then transmitted to the motors 3a and 3c through the cable 15a, so that the moving means 2 and 9 are driven and controlled. .
[0021]
On the other hand, the image captured by the optical camera 11 is transmitted through the cable 15b, and the movement distance signal in the tube axis direction measured by the sensor 5a and the movement distance signal in the vertical direction measured by the sensor 5b are transmitted through the cable 15c and monitored. 16 is displayed and recorded.
[0022]
In the above configuration, each heat transfer tube of the heat exchanger tube group 1 is filled in a limited space, and when the outer surface is inspected using the tube inspection device of the present invention, the following is performed. Follow a simple procedure.
[0023]
First, when inserting the pipe inspection apparatus of the present invention into the heat exchanger tube group 1, the manipulator 6 is placed in the furnace wall with the second moving means 9 of the pipe inspection apparatus positioned at the top of the manipulator 6. It is moved to a position where it does not interfere with, and the pendulum is operated so as to make the apparatus a center of rotation, and inserted between the tubes arranged in a staggered manner.
[0024]
Next, the first moving means 2 is set on the uppermost tube 1a. Then, the inspector supports the upper end of the manipulator 6 by hand, the motor 3c is finely moved by the remote controller 13, and the second moving means 9 is moved to the target position of the inspected tube 1b, so that the slave wheel 10 is covered. Contact the inspection tube 1b. At this time, the vertical movement distance of the second moving means 9 is measured by the sensor 5 b and displayed and recorded on the monitor 16.
[0025]
In this state, a signal for controlling the motor 3a is sent from the remote controller 13 to the control device 14, and the first moving means 2 is moved in the tube axis direction of the uppermost tube 1a. The moving distance is measured by the sensor 5a and displayed and recorded on the monitor 16. Here, since the first moving means 2 is suspended independently by the four drive wheels 4, even if the uppermost tube 1a is curved, the driving force of the motor 3a is reliably transmitted to the uppermost tube 1a. Smooth movement is possible.
[0026]
Then, the second moving means 9 supported by one end of the manipulator 6 rotatably connected to the first moving means 2 is slid and moved to the tube 1b to be observed, and is observed by the mounted optical camera 11. In addition, the appearance of the tube 1b to be inspected is displayed and recorded on the monitor 16, whereby the thinning state of the tube surface is inspected. In addition, when inspecting the heat exchanger pipe | tube arrange | positioned in the corner part in a furnace, it replaces with the short manipulator 6 and inspects.
[0027]
It is also possible to mount a plurality of cameras on the second moving means 9 and observe a wide range. For example, if an optical camera 11b is mounted in addition to the optical camera 11a as shown in FIG. 6, the heat exchanger tube 1c The back side can be inspected. As shown in FIG. 7 which is a partially enlarged view of FIG. 1, the areas indicated by the spots can be observed by the optical cameras 11a and 11b, respectively, and the area indicated by the grid pattern can be obtained by moving the manipulator 6 to the position indicated by the dotted line. Therefore, if the set is moved sequentially, the entire circumference of the tube can be observed.
[0028]
Although the above has described the inspection example of the heat exchanger tube group 1 arranged in a staggered manner in the vertical direction, the heat exchanger tube arranged in a staggered manner can be used even in the heat exchanger tube group 1 arranged vertically in the vertical direction. Inspection can be performed in the same manner as Group 1.
[0029]
Further, there is no problem even if the second moving means 9 is sent by a wire or a belt.
[0030]
Further, instead of directly observing the inspected tube 1b with the optical cameras 11a and 11b, as shown in FIG. 8, the image of the inspected tube 1b is refracted by the mirror 19 and indirectly observed with the optical cameras 11a and 11b. As a result, the distance between the optical inspection means and the tube to be inspected can be increased even in a narrow portion.
[0031]
In the above embodiment, the method of mounting the optical cameras 11a and 11b on the second moving means 9 and inspecting the appearance of the heat exchanger tube nondestructively has been described. However, as another embodiment of the present invention, As shown in the longitudinal sectional view of the second moving means 9 in FIG. 9, it is possible to mount the ultrasonic sensor 20 on the second moving means 9 and measure the thickness of the heat exchanger tube.
[0032]
In detail, as shown in FIGS. 10 and 11, the ultrasonic thickness measurement method is generally known. However, the ultrasonic sensor 20 is applied to the outer surface of the tube 1b to be inspected, and the ultrasonic wave 21 is applied from the ultrasonic sensor 20 to the outer surface. A message is sent to the inspection tube 1b. A part of the transmitted ultrasonic wave 21 is reflected by the surface of the inspection tube 1 b, and the reflected wave S is detected by the ultrasonic measuring instrument 22. The remaining ultrasonic waves that are not reflected on the surface of the tube to be inspected 1 b are propagated into the material of the tube to be inspected 1 b and reflected by the inner surface, and this reflected wave B is detected by the ultrasonic measuring instrument 22. The time difference Δt between the detected reflected wave S and the reflected wave B corresponds to the thickness of the tube 1b to be inspected, and the thickness d is calculated by the following equation. d = Δt · c / 2 where c is a known speed of sound propagating through the material of the tube 1b to be inspected.
[0033]
In this way, it is possible to inspect up to the lower tube of the heat exchanger tube group 1 in a staggered arrangement, and the installation of rails can be omitted to reduce the cost. Furthermore, the inspection device follows the bending of the tube, so the inspection accuracy is improved. Can be achieved.
[0034]
【The invention's effect】
The present invention, because a tube inspection system having a second moving means having a drivable wheel while Sewwa onto a test tube, heat exchanger tubes staggered that could not be conventionally observed It is now possible to inspect even the tubes placed on the lower side of the group. Also, since the pipe inspection device moves using the uppermost pipe as a track, it is possible to reduce the cost by eliminating the installation of rails. In addition, since the inspection device follows the curve of the tube, the inspection accuracy can be improved.
[Brief description of the drawings]
FIG. 1 is an overall configuration diagram of a pipe inspection apparatus according to an embodiment of the present invention.
FIG. 2 is a view taken along the line AA of FIG. 1 for explaining the first moving means in detail.
FIG. 3 is a view taken along the line B-B in FIG. 1 for explaining the independent suspension method for drive wheels.
4 is a side view of the manipulator driving unit in FIG. 1; FIG.
FIG. 5 is a view of a vertical cross section of the second moving means in FIG. 1;
6 is a view taken along the line CC of FIG.
FIG. 7 is a partially enlarged view of FIG. 1;
FIG. 8 is a diagram for explaining a method of increasing the distance between the optical camera and the tube to be inspected.
FIG. 9 is a schematic diagram illustrating another embodiment of the present invention and illustrating a method for measuring a thickness by ultrasonic waves.
FIG. 10 is a diagram for explaining a propagation path of ultrasonic waves in a tube to be inspected.
FIG. 11 is a diagram illustrating a detection result of a reflected wave with a vertical axis representing a reflected wave and a horizontal axis representing time.
[Explanation of symbols]
DESCRIPTION OF SYMBOLS 1 Heat exchanger pipe group 1a Uppermost stage pipe 1b, 1c Test pipe 2 First moving means 3a, 3c Motor 3b Pulley 4 Drive wheel 5a, 5b Sensor 6 Manipulator 7 Shaft 8 Stand 9 Second moving means 10 Subordinate wheel 10a Follower shaft 11a, b, c Optical camera 12 Slider 13 Remote controller 14 Controller 15a, 15b, 15c Cable 16 Monitor 17 Screw 18 Spring 19 Mirror 20 Ultrasonic sensor 21 Ultrasonic 22 Ultrasonic measuring instrument

Claims (4)

First moving means for moving with the uppermost tube in the heat exchanger tube group arranged horizontally in a multi-stage arrangement, one end pivotably connected to the first moving means, and the other end There a manipulator which moves along the inspection tube, moves on the manipulator, a second moving means having a wheel which can travel while Sewwa on the inspection tube within the heat exchanger tubes, A tube inspection apparatus, comprising: a non-destructive inspection unit that is mounted on the second moving unit and inspects the tube nondestructively.   Based on the position information of the first moving means and the second moving means, the display means for outputting and displaying the position information inspected by the nondestructive inspection means and / or the position inspected by the nondestructive inspection means 2. The tube inspection apparatus according to claim 1, further comprising storage means for storing information.   The non-destructive inspection means that is mounted on the second moving means and inspects the pipe nondestructively is a sensor that directly inspects the pipe or a sensor that inspects indirectly through the reflected light of the pipe. The pipe inspection apparatus according to claim 1 or 2.   The first moving means is provided with one or more drive wheels that move along the uppermost tube in the heat exchanger tube group, and each drive wheel is suspended independently. Item 4. The tube inspection device according to any one of Items 1 to 3.

Images