JPS63149557A - Trackless scanning apparatus for inspecting pipe - Google Patents
Trackless scanning apparatus for inspecting pipeInfo
- Publication number
- JPS63149557A JPS63149557A JP61294863A JP29486386A JPS63149557A JP S63149557 A JPS63149557 A JP S63149557A JP 61294863 A JP61294863 A JP 61294863A JP 29486386 A JP29486386 A JP 29486386A JP S63149557 A JPS63149557 A JP S63149557A
- Authority
- JP
- Japan
- Prior art keywords
- piping
- pipe
- rigidity
- running bodies
- pipe part
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
Links
- 238000007689 inspection Methods 0.000 claims description 5
- 230000007246 mechanism Effects 0.000 abstract description 14
- 230000036544 posture Effects 0.000 abstract 4
- 230000003187 abdominal effect Effects 0.000 abstract 1
- 229910001285 shape-memory alloy Inorganic materials 0.000 description 22
- 239000012530 fluid Substances 0.000 description 13
- 238000010586 diagram Methods 0.000 description 5
- 230000005684 electric field Effects 0.000 description 4
- 239000000463 material Substances 0.000 description 4
- 210000001015 abdomen Anatomy 0.000 description 2
- 230000000694 effects Effects 0.000 description 2
- 238000005516 engineering process Methods 0.000 description 2
- 206010023230 Joint stiffness Diseases 0.000 description 1
- 230000001133 acceleration Effects 0.000 description 1
- 238000013459 approach Methods 0.000 description 1
- 239000011248 coating agent Substances 0.000 description 1
- 238000000576 coating method Methods 0.000 description 1
- 230000003247 decreasing effect Effects 0.000 description 1
- 238000001514 detection method Methods 0.000 description 1
- 238000005868 electrolysis reaction Methods 0.000 description 1
- 230000005484 gravity Effects 0.000 description 1
- 238000000034 method Methods 0.000 description 1
- 238000003466 welding Methods 0.000 description 1
Landscapes
- Investigating Or Analyzing Materials By The Use Of Ultrasonic Waves (AREA)
Abstract
Description
【発明の詳細な説明】
〔産業上の利用分野〕
本発明は、原子力発電プラント等の配管の超音波検査等
のための走査装置に係り５特に軌道を設けず、直管部や
曲管部を配管の周方向に偏って回ることなく安定して走
査し得る無軌道式走査装置に関する。[Detailed Description of the Invention] [Field of Industrial Application] The present invention relates to a scanning device for ultrasonic inspection of piping in nuclear power plants, etc. 5 In particular, the present invention relates to a scanning device for ultrasonic inspection of piping in nuclear power plants, etc. The present invention relates to a trackless scanning device that can stably scan a pipe without turning eccentrically in the circumferential direction of the pipe.
直管部２曲管部を配管の周方向に偏って回ることなく安
定して走査し得る無軌道式走査装置の従来例として、第
２図に示すようなものがある。上記従来例は、複数個の
軸方向走行体Ｃを剛体の連節体りで連結し走行体を長く
することにより直進性を確保している。As a conventional example of a trackless scanning device that can stably scan a straight pipe part and two curved pipe parts without turning eccentrically in the circumferential direction of the pipe, there is one shown in FIG. In the above-mentioned conventional example, a plurality of axially traveling bodies C are connected by a rigid articulated body to make the traveling bodies long, thereby ensuring straight-line performance.
剛体の連節体をもつ上記従来例の走査装置では、連節体
が曲管部の腹部や背部にくる配置になる場合は、その曲
管部は走行不能になる。何故ならば、複数個の軸方向走
行体は各々配管に垂直に姿勢を保持するため、軸方向走
行体間の距離は、その周方向によって異なる。従って、
連節体の長さを変えられない従来技術では、上記の場合
は適用できない。In the above-mentioned conventional scanning device having a rigid articulated body, if the articulated body is located at the abdomen or back of a curved tube portion, the curved tube portion becomes unable to travel. This is because each of the plurality of axially traveling bodies maintains a posture perpendicular to the piping, so the distance between the axially traveling bodies varies depending on the circumferential direction. Therefore,
The conventional technology that cannot change the length of the articulated body cannot be applied to the above case.
本発明の目的は、複数個の軸方向走行体間にある連節体
が、曲管部の腹部若しくは背部に位置した場合も走行体
を管の周方向に回転させることなくスムーズに曲管部を
走査し得る無軌道式の走査装置を提供するものである。An object of the present invention is to smoothly connect a plurality of axially running bodies to a bent pipe without rotating the running bodies in the circumferential direction of the pipe even when the joint body between the plurality of axially running bodies is located at the abdomen or back of the bent pipe. The present invention provides a trackless scanning device capable of scanning.
本発明の目的は、連節体の剛性を任意に変えられる剛性
制御手段とその形状を所望の形に変えられる形状可変手
段とで構成する連節体により達成できる。The object of the present invention can be achieved by an articulated body comprising a rigidity control means that can arbitrarily change the rigidity of the articulated body and a shape variable means that can change its shape into a desired shape.
本発明では、走査装置が曲管部にさしかかった時に連節
体が配管と接触しないように、曲管部における連節体の
位置によって剛性制御機構と形状可変手段とで、その連
節体の剛性と形状を変えることにより曲管部を自由に走
行することができる。In the present invention, a rigidity control mechanism and a shape variable means are used to control the joint body according to the position of the joint body in the curved pipe part so that the joint body does not come into contact with the pipe when the scanning device approaches the curved pipe part. By changing the rigidity and shape, it is possible to freely travel around the curved pipe section.
次に１本発明の一実施例を第１図並びに、第３図乃至第
８図を用いて説明する。Next, one embodiment of the present invention will be described with reference to FIG. 1 and FIGS. 3 to 8.
第１図は本発明の１実施例における剛性可変連節体の構
成を示す断面図である。FIG. 1 is a cross-sectional view showing the configuration of a variable rigidity articulated body in one embodiment of the present invention.
剛性可変連節体は、軸方向走行体ベース２１と連結する
ジヨイント１５．剛性可変連節体の剛性を変える電磁粘
性流体１１〔以下Ｅ Ｒ（Ｅｌｅｃｔｒ。The variable rigidity articulated body has a joint 15. which is connected to the axial traveling body base 21. Magneto-rheological fluid 11 (hereinafter referred to as ER (electr)) that changes the rigidity of the variable-rigidity articulated body.
−Ｒｈｅｏｌｏｇｉｃａｌ ）流体と略す〕、剛性可変
連節体の形状を変化させる形状記憶合金コイル１２、及
び被覆材１３とから構成される。ジヨイント１５は軸方
向走行体ベース２１に対し曲折可能な自在軸ジヨイント
にし、剛性可変連節体が変化しやすくする。形状記憶合
金コイル１２は、ジヨイント１５に固定された電極板１
４１及び１４２でジヨイント１５に固定する。、電極板
１４１は形状記憶合金コイル１２に電流を供給するもの
で形状記憶合金コイル１２と導通させる。電極板１４２
はＥＲ流体１１に電界を供給するもので形状記憶合金コ
イル１２とは絶縁する。ＥＲ流体１１とは、該流体に印
加する電界強度により粘性が変化する流体である。被覆
材１，３は、剛性可変連節体の形状が変化しやすい材質
（例えばゴム）にする。-Rheological (abbreviated as "fluid")], a shape memory alloy coil 12 that changes the shape of the variable rigidity joint body, and a covering material 13. The joint 15 is a flexible shaft joint that can be bent with respect to the axial traveling body base 21, so that the variable rigidity articulated body can be easily changed. The shape memory alloy coil 12 is connected to the electrode plate 1 fixed to the joint 15.
41 and 142 to fix it to the joint 15. The electrode plate 141 supplies current to the shape memory alloy coil 12 and is electrically connected to the shape memory alloy coil 12 . Electrode plate 142
supplies an electric field to the ER fluid 11 and is insulated from the shape memory alloy coil 12. The ER fluid 11 is a fluid whose viscosity changes depending on the electric field intensity applied to the fluid. The covering materials 1 and 3 are made of a material (for example, rubber) that allows the shape of the variable-rigidity articulated body to change easily.
第３図は、第１図で示した剛性可変連節体１を用いた走
査装置の軸方向走行部の構成を示した斜視図である。FIG. 3 is a perspective view showing the configuration of an axial traveling section of a scanning device using the variable rigidity articulated body 1 shown in FIG. 1.
走査装置の軸方向走行体２は、被検査物である配管３を
囲んで着脱可能なように（例えば二つ割り型）に構成し
たドーナツ状のベース２１と、該ベース２１に固定され
て配管３の外周に接触して回転する駆動輪を有する３個
の軸方向駆動機構２２とから構成される軸方向走行体２
と、複数個の軸方向走行体２を連結する剛性可変連節体
１とから構成されている。上記の３個の軸方向駆動機構
２２、並びに３本の剛性可変連節体１は、配管３を取り
囲んで対称位置（互いに１２０℃の位置）に設けである
。The axially moving body 2 of the scanning device has a donut-shaped base 21 that surrounds a pipe 3 that is an object to be inspected and is configured to be removable (for example, split in two), and a donut-shaped base 21 that is fixed to the base 21 and that is attached to the pipe 3. An axial traveling body 2 composed of three axial drive mechanisms 22 having drive wheels that rotate in contact with the outer periphery.
and a variable-rigidity articulated body 1 that connects a plurality of axial traveling bodies 2. The three axial drive mechanisms 22 and the three variable rigidity joints 1 are provided at symmetrical positions (at 120° C. from each other) surrounding the pipe 3.
第４図は、第３図の軸方向走行体２に設けた軸方向駆動
機構２２に搭載した姿勢センサ機構２３の１実施例を示
した図である。姿勢センサ機構２３は、同センサ全体を
支持する支持部２３８゜支持部２３８に固定された案内
棒２３９ａ。FIG. 4 is a diagram showing one embodiment of the attitude sensor mechanism 23 mounted on the axial drive mechanism 22 provided in the axial traveling body 2 of FIG. 3. FIG. The posture sensor mechanism 23 includes a guide rod 239a fixed to a support section 238 which supports the entire sensor.
２３９ｂ、案内棒２３９ａ、２３９ｂを上下移動するセ
ンサ支柱２３４．距離センサ２３３．距離センサ２３３
を保持しセンサ支柱２３４に固定されたセンサ保持具２
３７２．距離センサ２３３の上下移動を案内し、支持部
２３９に固定されたセンサ案内板２３７１．センサ支柱
に装着された車軸２３１ｂ、車輪２３１ｂを中心に回動
可能なセンサ板２３２．センサ板２３２の距離センサ２
３３と反対側に取りつけられた車輪２３１ａ、センサ保
持具２３７２を常に押しつけることによって姿勢センサ
機端２３全体を配管３に押し付けるバネ２３６、及びセ
ンサ板２３２とセンサ保持具２３７２につけられ、セン
サ板２３２をセンサ保持具側に引張っているバネ２３５
から構成している。そこで配管３の曲率が変化し車軸２
３１ｂが浮いた時は、バネ２３６に支持部２３９が下に
押えられ、センサ板２３２が車輪２３１ｂを中心に回転
し、センサ板２３２と距離センサ２３３との距離が変化
し、その変化を距離センサで検出し曲率の変化を検出す
る。一方、配管３の曲率が変化し車軸２３１ａが浮いた
時は、バネ２３５で車軸２３１ｂを中心に引張られて、
センサ板２３２と距離センサ２３３との距離が変化し、
以下同様に曲率の変化を検出する。239b, a sensor column 234 that moves up and down the guide rods 239a and 239b. Distance sensor 233. Distance sensor 233
The sensor holder 2 is fixed to the sensor support 234.
372. A sensor guide plate 2371 that guides the vertical movement of the distance sensor 233 and is fixed to the support section 239. An axle 231b attached to a sensor column, and a sensor plate 232 rotatable around the wheel 231b. Distance sensor 2 on sensor plate 232
33, a spring 236 that presses the entire attitude sensor end 23 against the piping 3 by constantly pressing the sensor holder 2372, and a spring 236 that is attached to the sensor plate 232 and the sensor holder 2372 to hold the sensor plate 232. Spring 235 pulling toward the sensor holder side
It consists of Therefore, the curvature of the pipe 3 changes and the axle 2
31b floats, the support part 239 is pressed down by the spring 236, the sensor plate 232 rotates around the wheel 231b, the distance between the sensor plate 232 and the distance sensor 233 changes, and the change is detected by the distance sensor. to detect changes in curvature. On the other hand, when the curvature of the pipe 3 changes and the axle 231a floats, it is pulled around the axle 231b by the spring 235,
The distance between the sensor plate 232 and the distance sensor 233 changes,
Thereafter, changes in curvature are detected in the same manner.
次に、軸方向駆動輪が軸方向走行体ベースに１８０°の
位置に取り付けられた軸方向走行体を用いて、軸方向走
行体の姿勢制御について説明する。Next, attitude control of the axial traveling body will be described using an axial traveling body in which the axial drive wheels are attached to the axial traveling body base at a position of 180 degrees.
まず、姿勢センサ機構による傾斜角検出原理を述べる。First, the principle of tilt angle detection using the posture sensor mechanism will be described.
軸方向走行体が配管に対して前傾姿勢になると、軸方向
走行体のベースと一諸に距離センサ２３３も第４図破線
のごとく傾斜する。一方、センサ板２３２は車輪２３１
ａと車輪２３１ｂとがバネ２３５とバネ２３６によって
配管に押しつけられているので、常に配管表面と平行に
保持される。この結果、姿勢センサ機端のセンサ板２３
２と距離センサ２３３との距離は軸方向走行体が配管に
垂直な姿勢の時に比べて長くなる。その長さの変化を距
離センサ２３３で検出し、軸方向走行体と配管の傾斜角
を検出する。また軸方向走行体が配管に対して後に傾い
た姿勢になると、姿勢センサ機構のセンサ板２３２と距
離センサ２３３との距離は軸方向走行体が配管に垂直な
姿勢の時に比べ短くなっている。When the axially traveling body leans forward with respect to the piping, the distance sensor 233 also tilts along with the base of the axially traveling body as shown by the broken line in FIG. On the other hand, the sensor plate 232
Since the wheels 231b and 231b are pressed against the pipe by the springs 235 and 236, they are always held parallel to the pipe surface. As a result, the sensor plate 23 at the end of the attitude sensor
2 and the distance sensor 233 is longer than when the axial traveling body is in a posture perpendicular to the piping. A distance sensor 233 detects a change in the length, and detects an inclination angle between the axially traveling body and the pipe. Further, when the axially traveling body is in a posture tilted backward with respect to the piping, the distance between the sensor plate 232 of the posture sensor mechanism and the distance sensor 233 is shorter than when the axially traveling body is in a posture perpendicular to the piping.
上述の軸方向走行体の姿勢を配管に対して垂直に制御す
るには、傾斜角が零になるように配管の軸方向駆動輪の
回転速度を増減させる。この時軸方向走行体の重心の移
動速度が直管部走行時と変化しないよう配管曲管部の腹
部側の軸方向駆動輪の減速量と、背部側の軸方向駆動輪
の加速量が同一になるよう制御する。In order to control the attitude of the above-mentioned axial traveling body perpendicularly to the pipe, the rotational speed of the axial drive wheel of the pipe is increased or decreased so that the angle of inclination becomes zero. At this time, the amount of deceleration of the axial drive wheel on the ventral side of the bent pipe section is the same as the amount of acceleration of the axial drive wheel on the back side so that the moving speed of the center of gravity of the axially running body does not change from when running on the straight pipe section. control so that
第５図は、剛性可変連節体１の中央に設けた形状記憶合
金コイル１２の温度による形状の変化状態を示した斜視
図である。形状記憶合金はその温度を形状変化温度より
高くした時と低くした時とで違った形状を記憶すること
ができる。この形状記憶合金の特徴を利用し剛性可変連
節体の形状を変化させる。第３図で示した軸方向走行体
２が配管３の直管部を走行する時は剛性可変連節体１を
真直にし、また軸方向走行体２が曲管部を走行する時、
形状を変化させた剛性可変連節体１が配管３と接触しな
いように外側に剛性可変連節体を変形させるようにする
。そのために、形状記憶合金コイル１２の温度Ｔｌ と
、形状記憶合金コイル１２の形状変化温度Ｔｏとの関係
が、Ｔｏ＞Ｔ１の時第３図（ａ）のような真すぐな形状
、またＴｏ＜Ｔｚの時第３図（ｂ）のような曲率を持っ
た形状になるような形状記憶合金コイル１２に形状を記
憶させる。形状記憶合金コイル１２の温度は、形状記憶
合金コイル１２に電流を流すことにより変化させる。FIG. 5 is a perspective view showing how the shape of the shape memory alloy coil 12 provided at the center of the variable rigidity articulated body 1 changes depending on temperature. Shape memory alloys can memorize different shapes depending on whether the temperature is higher or lower than the shape change temperature. Utilizing the characteristics of this shape memory alloy, the shape of the variable rigidity joint can be changed. When the axial traveling body 2 shown in FIG. 3 travels through the straight pipe section of the piping 3, the variable rigidity articulated body 1 is made straight, and when the axial traveling body 2 runs through the curved pipe section,
The variable-rigidity articulated body 1 whose shape has been changed is deformed outward so that the variable-rigidity articulated body 1 does not come into contact with the piping 3. Therefore, when the relationship between the temperature Tl of the shape memory alloy coil 12 and the shape change temperature To of the shape memory alloy coil 12 is To>T1, a straight shape as shown in FIG. 3(a) or To< When Tz, the shape is memorized in the shape memory alloy coil 12, which has a curvature as shown in FIG. 3(b). The temperature of the shape memory alloy coil 12 is changed by passing an electric current through the shape memory alloy coil 12.
第１図に示した剛性可変速節体１の形状変化の制御シー
ケンスを第６図を用いて、剛性可変連節体１の形状を、
第６図（ａ）の状態から第６図（ｂ）の状態に変化させ
る場合を例に説明する。Using the control sequence for changing the shape of the rigid variable speed articulated body 1 shown in FIG. 1 as shown in FIG. 6, the shape of the rigid variable speed articulated body 1 is changed to
The case where the state shown in FIG. 6(a) is changed to the state shown in FIG. 6(b) will be explained as an example.
第６図（ａ）の剛性可変連節体１の形状記憶合金コイル
の温度は形状記憶合金コイルの変形温度より低く第５図
（ａ）で示した形状である。またその時のＥＲ流体の状
態は電解を印加された剛体状である。以下、シーケンス
を説明する。The temperature of the shape memory alloy coil of the variable rigidity articulated body 1 shown in FIG. 6(a) is lower than the deformation temperature of the shape memory alloy coil, resulting in the shape shown in FIG. 5(a). Further, the state of the ER fluid at that time is a rigid body to which electrolysis is applied. The sequence will be explained below.
１、ＥＲ流体に印加している電界を小さくシ。1. Reduce the electric field applied to the ER fluid.
ＥＲ流体を軟化させ剛性可変連節体１の形状を変化しや
すくする。The ER fluid is softened to make it easier to change the shape of the variable rigidity articulated body 1.
２、形状記憶合金コイルに電流を供給し形状記憶合金コ
イルの温度を上昇させ、形状記憶合金コイルを第５図（
ｂ）の形状にし、剛性可変連節体１の相対的な長さを変
化させる。2. Supply current to the shape memory alloy coil to increase the temperature of the shape memory alloy coil, and the temperature of the shape memory alloy coil as shown in Figure 5 (
b), and the relative length of the variable rigidity articulated body 1 is changed.
３、剛性可変連節体１の相対的な長さを所望の長さにし
た後、ＥＲ流体に印加する電界を大きくし剛性可変連節
体１を剛体にする。3. After setting the relative length of the variable-rigidity articulated body 1 to a desired length, the electric field applied to the ER fluid is increased to make the variable-rigidity articulated body 1 rigid.
４、形状記憶合金コイルに供給していた電流を断つ。こ
の時形状記憶合金は、徐々に第５図（ａ）の形状に戻ろ
うとするがＥＲ流体が同一形状を保持する。ＥＲ流体は
剛性を持った時、２つの軸方向走行体を結ぶ構造材の役
目をする。4. Cut off the current supplied to the shape memory alloy coil. At this time, the shape memory alloy gradually tries to return to the shape shown in FIG. 5(a), but the ER fluid maintains the same shape. When the ER fluid has rigidity, it serves as a structural member that connects two axially traveling bodies.
上記とは逆に第６図（ｂ）から第６図（ａ）のように剛
性可変連節体１の姿勢を変化させる時は、上記の工程の
２と４を逆にした工程で行える。Contrary to the above, when changing the posture of the variable rigidity articulated body 1 as shown in FIG. 6(b) to FIG. 6(a), it can be done by reversing steps 2 and 4 of the above steps.
第３図のような走査装置を用いて被検査物である配管３
の溶接部３１を超音波センサで検査する時の、走査装置
の姿勢と軸方向走行体２の動作を第７図から第８図を用
いて説明する。Piping 3, which is the object to be inspected, using a scanning device as shown in Figure 3.
The attitude of the scanning device and the operation of the axially traveling body 2 when inspecting the welded portion 31 of the present invention with an ultrasonic sensor will be explained with reference to FIGS. 7 and 8.
超音波センサで配管３の溶接部３１の検査をする時は、
溶接部３１の左右両側から超音波センサで、検査する必
要がある。第７図に示すような配管３の溶接部３１を直
管側から検査する時は、軸方向走行体２を周方向に回転
させることなく、また軸方向走行体２の姿勢を配管に対
して垂直に保ちながら走行する必要がある。そのために
複数個の軸方向走行体２の各々の距離をできるだけ長（
、また３本の剛性可変連節体の相対的な長さを同一にす
る必要がある。そのために、剛性可変連節体を第６図（
ａ）のように制御する。When inspecting the welded part 31 of the pipe 3 with an ultrasonic sensor,
It is necessary to inspect the welded portion 31 from both the left and right sides using ultrasonic sensors. When inspecting the welded part 31 of the pipe 3 from the straight pipe side as shown in FIG. It is necessary to run while staying vertical. For this purpose, the distance between each of the plurality of axially traveling bodies 2 is made as long as possible (
Furthermore, it is necessary that the relative lengths of the three variable stiffness joints be the same. To that end, we constructed a variable-rigidity articulated body as shown in Figure 6 (
Control as in a).
次に、第７図に示す配管３の溶接部３１を曲管部から査
検する時は、前述した剛性可変連節体の形状変化の制御
シーケンスを使用し、次に説明するように軸方向走行体
２を配管３の直管部から曲管部へ走行させた後に第８図
で示すような姿勢に軸方向走行体２を保持してから検査
を行う６以下。Next, when inspecting the welded part 31 of the pipe 3 shown in FIG. 6 or less, in which the inspection is carried out after the traveling body 2 has traveled from the straight pipe section to the curved pipe section of the piping 3, and then the axially traveling body 2 is held in the posture shown in FIG.
軸方向走行体２が配管３の直管部から曲管部へ移動する
工程を説明する。A process in which the axial traveling body 2 moves from the straight pipe section to the curved pipe section of the pipe 3 will be explained.
軸方向走行体２が配管３の直管部に位置する間軸方向走
行体２の配管３に対する姿勢と剛性可変連節体１の形状
は第６図（ａ）のように保持されている。第４図に示し
た軸方向走行体２に設けられた軸方向駆動機構２２に搭
載されている姿勢センサ機構２３が、軸方向走行体２が
曲管部に入ったことを検知した後、曲管部の腹部側に位
置した剛性可変連節体１の形状を前述の剛性可変連節体
１の形状変化の制御に従い変形させる。軸方向走行体２
の姿勢は姿勢センサにより常に配管３に対し垂直になる
ように制御している。複数個の軸方向走行体２の各々が
曲管部に入った後は、軸方向走行体２が配管に垂直にな
ったことを確認後、剛性可変連節体１に剛性を持たせ第
８図に示す姿勢に保持する。その後はこの姿勢を保持す
ることによって安定して曲管部でも検査することができ
る。While the axially traveling body 2 is located in the straight pipe portion of the pipe 3, the attitude of the axially traveling body 2 with respect to the pipe 3 and the shape of the variable rigidity articulated body 1 are maintained as shown in FIG. 6(a). After the attitude sensor mechanism 23 mounted on the axial drive mechanism 22 provided on the axially traveling body 2 shown in FIG. 4 detects that the axially traveling body 2 has entered the curved pipe section, The shape of the variable-rigidity articulated body 1 located on the ventral side of the tube portion is deformed according to the above-described shape change control of the variable-rigidity articulated body 1. Axial running body 2
The attitude of the pipe 3 is always controlled to be perpendicular to the pipe 3 by a posture sensor. After each of the plurality of axial traveling bodies 2 enters the bent pipe section, after confirming that the axial traveling bodies 2 are perpendicular to the pipe, the rigidity variable articulated body 1 is made rigid and the eighth Hold in the position shown in the figure. Thereafter, by maintaining this posture, even curved pipe sections can be inspected stably.
上記とは逆に配管３の曲管部から直管部へ軸方向走行体
２を走行させる時も、上記の直管部から曲管部への走行
シーケンスを逆に応用することにより曲管部から直管部
へ走行することができる。Contrary to the above, when the axial traveling body 2 is run from the bent pipe part to the straight pipe part of the pipe 3, the above running sequence from the straight pipe part to the bent pipe part can be reversely applied to the bent pipe part. It is possible to travel from the pipe to the straight pipe section.
本発明によれば、無軌道式の走査装置が曲管部を通過す
る際、複数の軸方向走行体間の連節部が曲管部の内側若
しくは外側に位置した場合でも。According to the present invention, when the trackless scanning device passes through a curved pipe section, even if the joint portion between the plurality of axial traveling bodies is located inside or outside the curved pipe section.
走行体を管の周方向に回転させることなく曲管部をスム
ーズに走査することができる。The curved pipe portion can be smoothly scanned without rotating the traveling body in the circumferential direction of the pipe.
第１図は本発明の一実施例の剛性可変連節体の断面図、
第２図は従来例の説明図、第３図は本発明の剛性可変連
節体を用いた軸方向走行体の斜視図、第４図は姿勢セン
サの一実施例を示す説明図。
第５図は形状記憶合金コイルの形状変化を示した斜視図
、第６図は剛性可変連節体の形状変化を示した説明図、
第７図は配管の直管部における軸方向走行体の姿勢と剛
性可変連節体の形状を示した説明図、第８図は配管の曲
管部における軸方向走行体と剛性可変連節体の形状を示
した説明図である。
１・・・剛性可変連節体、２・・・軸方向走行体、３・
・・配管、１１・・・ＥＲ流体、１２・・・形状記憶合
金コイル１３・・・被覆材、１５・・・ジヨイント、２
１・・・軸方向走行体ベース、２２・・・軸方向駆動機
構、３１・・・溶接線。FIG. 1 is a sectional view of a variable rigidity joint according to an embodiment of the present invention;
FIG. 2 is an explanatory diagram of a conventional example, FIG. 3 is a perspective view of an axial traveling body using the variable rigidity articulated body of the present invention, and FIG. 4 is an explanatory diagram showing one embodiment of a posture sensor. FIG. 5 is a perspective view showing the shape change of the shape memory alloy coil, FIG. 6 is an explanatory diagram showing the shape change of the variable rigidity joint body,
Fig. 7 is an explanatory diagram showing the posture of the axially running body and the shape of the variable-rigidity articulated body in the straight pipe section, and Fig. 8 is the axially running body and the variable-rigidity articulated body in the curved part of the pipe. It is an explanatory view showing the shape of. DESCRIPTION OF SYMBOLS 1... Rigidity variable joint body, 2... Axial direction running body, 3...
...Piping, 11...ER fluid, 12...Shape memory alloy coil 13...Coating material, 15...Joint, 2
DESCRIPTION OF SYMBOLS 1... Axial direction traveling body base, 22... Axial direction drive mechanism, 31... Welding line.
Claims (1)
と、このベースに対して支承されて前記の管に接触する
走行用の駆動輪を有する複数個の軸方向走行体間を連結
する連節体とで構成される管検査用の無軌道式走査装置
において、該連節体の剛性を変える剛性制御手段と、該
連節体の形状を変える形状可変手段とを有する連節体を
具備することを特徴とする、管検査用の無軌道式走査装
置。1. Connection between a plurality of axial running bodies having a ring-shaped base that is detachable from the pipe that is the object to be inspected, and a driving wheel for running that is supported by this base and comes into contact with the pipe. A trackless scanning device for pipe inspection comprising an articulated body having a rigidity control means for changing the rigidity of the articulated body and a shape variable means for changing the shape of the articulated body. A trackless scanning device for pipe inspection, comprising:
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP61294863A JPS63149557A (en) | 1986-12-12 | 1986-12-12 | Trackless scanning apparatus for inspecting pipe |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP61294863A JPS63149557A (en) | 1986-12-12 | 1986-12-12 | Trackless scanning apparatus for inspecting pipe |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| JPS63149557A true JPS63149557A (en) | 1988-06-22 |
Family
ID=17813229
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| JP61294863A Pending JPS63149557A (en) | 1986-12-12 | 1986-12-12 | Trackless scanning apparatus for inspecting pipe |
Country Status (1)
| Country | Link |
|---|---|
| JP (1) | JPS63149557A (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2020112903A1 (en) * | 2018-11-29 | 2020-06-04 | Saudi Arabian Oil Company | Crawler vehicle with automatic probe normalization |
| US11760127B2 (en) | 2020-12-03 | 2023-09-19 | Saudi Arabian Oil Company | Two-wheel compact inspection crawler with automatic probe normalization |
-
1986
- 1986-12-12 JP JP61294863A patent/JPS63149557A/en active Pending
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2020112903A1 (en) * | 2018-11-29 | 2020-06-04 | Saudi Arabian Oil Company | Crawler vehicle with automatic probe normalization |
| US11548577B2 (en) | 2018-11-29 | 2023-01-10 | Saudi Arabian Oil Company | Crawler vehicle with automatic probe normalization |
| US11760127B2 (en) | 2020-12-03 | 2023-09-19 | Saudi Arabian Oil Company | Two-wheel compact inspection crawler with automatic probe normalization |
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