JP3553289B2

JP3553289B2 - Inspection device

Info

Publication number: JP3553289B2
Application number: JP25261696A
Authority: JP
Inventors: 博司下山; 寛常脇; 拓佐々木
Original assignee: Mitsubishi Heavy Industries Ltd
Current assignee: Mitsubishi Heavy Industries Ltd
Priority date: 1996-09-25
Filing date: 1996-09-25
Publication date: 2004-08-11
Anticipated expiration: 2016-09-25
Also published as: JPH1096713A

Description

【０００１】
【発明の属する技術分野】
本発明は検査装置に関し、特に火力発電用ボイラの火炉壁管の検査を行う場合に適用して有用なものであり、更には煙突、塔、鉄塔等の各種構造物の検査に適用しても有用なものである。
【０００２】
【従来の技術】
火力発電所では、ボイラの火炉における炉壁管（蒸発管）の管内面（管表面の金物溶接部近傍）に、経年劣化によって、応力腐食に起因する亀裂が発生することがあり、この亀裂によってボイラ水の漏洩に至ることがある。従って、火力発電所では、炉壁管に発生した亀裂を早期に発見して、ボイラの停止に至るようなボイラ水の漏洩事故を未然に防ぐため、炉壁管の検査が行われている。
【０００３】
この炉壁管の検査は、図６に示すように、炉壁管Ｒの表面に超音波センサＳを当て、この超音波センサＳから出力するビーム（超音波）を炉壁管の管壁中に伝搬させることによって行う。図６中のＫは炉壁管内面に発生した亀裂である。
【０００４】
従来は、この超音波センサによる炉壁管の検査を、図７に示すように、作業員が超音波センサＳを炉内側から炉壁管の表面に押し当て且つ移動（走査）させることによって行っていた。
【０００５】
【発明が解決しようとする課題】
しかしながら、上記のような人手による検査方法では、次のような欠点があった。
【０００６】
▲１▼ 亀裂欠陥を探るための超音波センサの走査が粗くなり易く、亀裂を見落としがちである。
▲２▼ 超音波センサの走査や、検査データの記入に時間がかかるため、能率が悪く、短期間に多くの箇所の検査を行うには多数の検査員が必要となる。
【０００７】
従って本発明は上記従来技術に鑑み、炉壁管等の構造物に対する検査部（超音波センサ等）の走査を綿密且つ能率的に行うことができる検査装置を提供することを課題とする。
【０００８】
【課題を解決するための手段】
上記課題を解決する本発明の第１の構成は、装置本体を構造物の表面上に取付ける取付け手段を有すると共に、
前記構造物の表面上を移動して前記構造物の各位置の検査を行う検査部と、
前記構造物の表面に沿う第１の方向に直線的に前記検査部を移動せしめる第１の移動手段と、
前記構造物の表面に沿い且つ前記第１の方向と直交する第２の方向に直線的に前記検査部を移動せしめる第２の移動手段と、
前記第１及び第２の方向と直交する第３の方向に直線的に前記検査部を移動せしめる第３の移動手段と、
前記検査部の先端面を弾性部材の弾性力によって前記構造物の表面に押し付ける押し付け手段と、
前記構造物の表面が円弧状の凸面である場合にこの構造物の円弧状表面に倣って前記検査部が回動するよう前記検査部を回動可能に支持する支持手段とを装置本体に備え、
前記支持手段は、前記検査部を前記第１、第２及び第３の方向に沿う各軸回りに回動可能に支持するジンバル機構であることを特徴とする。
【０００９】
また、第２の構成は、装置本体を構造物の表面上に取付ける取付け手段を有すると共に、
前記構造物の表面上を移動して前記構造物の各位置の検査を行う検査部と、
前記構造物の表面に沿う第１の方向に直線的に前記検査部を移動せしめる第１の移動手段と、
前記構造物の表面に沿い且つ前記第１の方向と直交する第２の方向に直線的に前記検査部を移動せしめる第２の移動手段と、
前記第１及び第２の方向と直交する第３の方向に直線的に前記検査部を移動せしめる第３の移動手段と、
前記検査部の先端面を弾性部材の弾性力によって前記構造物の表面に押し付ける押し付け手段と、
前記構造物の表面が円弧状の凸面である場合にこの構造物の円弧状表面に倣って前記検査部が回動するよう前記検査部を回動可能に支持する支持手段とを装置本体に備え、
前記検査部の先端面は、前記構造物の円弧状表面に沿った円弧状の凹面となっており、
前記支持手段は、前記検査部を前記第１、第２及び第３の方向に沿う各軸回りに回動可能に支持するジンバル機構であることを特徴とする。
【００１０】
また、第３の構成は、装置本体を構造物の表面上に取付ける取付け手段を有すると共に、
前記構造物の表面上を移動して前記構造物の各位置の検査を行う検査部と、
前記構造物の表面に沿う第１の方向に直線的に前記検査部を移動せしめる第１の移動手段と、
前記構造物の表面に沿い且つ前記第１の方向と直交する第２の方向に直線的に前記検査部を移動せしめる第２の移動手段と、
前記第１及び第２の方向と直交する第３の方向に直線的に前記検査部を移動せしめる第３の移動手段と、
前記検査部の先端面を弾性部材の弾性力によって前記構造物の表面に押し付ける押し付け手段と、
前記構造物の表面が円弧状の凸面である場合にこの構造物の円弧状表面に倣って前記検査部が回動するよう前記検査部を回動可能に支持する支持手段とを装置本体に備え、
前記支持手段には、前記検査部であるセンサブロックの両側面を挾持するコ字状の板ばねを備え、前記センサブロックに外力がかからないとき、前記板ばねの弾性力によって前記センサブロックの先端面が正面を向くよう前記センサブロックの姿勢を保持する構成とした保持手段を備えたことを特徴とする。
【００１１】
また、第４の構成は、装置本体を構造物の表面上に取付ける取付け手段を有すると共に、
前記構造物の表面上を移動して前記構造物の各位置の検査を行う検査部と、
前記構造物の表面に沿う第１の方向に直線的に前記検査部を移動せしめる第１の移動手段と、
前記構造物の表面に沿い且つ前記第１の方向と直交する第２の方向に直線的に前記検査部を移動せしめる第２の移動手段と、
前記第１及び第２の方向と直交する第３の方向に直線的に前記検査部を移動せしめる第３の移動手段と、
前記検査部の先端面を弾性部材の弾性力によって前記構造物の表面に押し付ける押し付け手段と、
前記構造物の表面が円弧状の凸面である場合にこの構造物の円弧状表面に倣って前記検査部が回動するよう前記検査部を回動可能に支持する支持手段とを装置本体に備え、
前記検査部の先端面は、前記構造物の円弧状表面に沿った円弧状の凹面となっており、
前記支持手段には、前記検査部であるセンサブロックの両側面を挾持するコ字状の板ばねを備え、前記センサブロックに外力がかからないとき、前記板ばねの弾性力によって前記センサブロックの先端面が正面を向くよう前記センサブロックの姿勢を保持する構成とした保持手段を備えたことを特徴とする。
【００１２】
また、第５の構成は、上記第１又は第２の構成において、前記支持手段には、前記検査部であるセンサブロックの両側面を挾持するコ字状の板ばねを備え、前記センサブロックに外力がかからないとき、前記板ばねの弾性力によって前記センサブロックの先端面が正面を向くよう前記センサブロックの姿勢を保持する構成とした保持手段を備えたことを特徴とする。
【００１５】
従って、上記第１，第２，第３，第４及び第５の構成の検査装置によれば、具体的な移動例は後述するが、検査部を第１、第２及び第３の移動手段によって第１、第２及び第３の方向に任意に移動させることができる。このため、これら各方向の移動を適宜組み合わせることによって、検査部の走査を綿密且つ迅速に行うことができる。
また、検査部を第３の移動手段によって第３の方向（構造物に近づく方向）に移動させて検査部の先端面を構造物の表面に当接させる際、押し付け手段によって柔らかく押し付けることができる。
また、押し付け手段によって検査部の先端面を構造物の円弧状表面に押し付けると共に、支持手段によって検査部を構造物の円弧状表面に倣って回動するよう支持しているため、検査部を直線的に移動させるだけで、常に検査部の先端面を構造物の円弧状表面に接触させることができる。
また、上記第２，第４及び第５の構成の検査装置によれば、検査部の先端面が構造物の円弧状表面に沿った円弧状の凹面となっているため、より確実に検査部の先端面を構造物の円弧状表面に接触させることができる。
また、上記第１，第２及び第５の構成の検査装置によれば、ジンバル機構によって検査部を第１、第２及び第３の方向に沿う各軸回りに回動可能に支持しているため、構造物の表面に対して第１、第２及び第３の移動手段のセッティング誤差に伴う検査部の微小な傾きがあっても、この検査部の先端面を構造物の表面に確実になじませることができる。
また、上記第３，第４及び第５の構成の検査装置によれば、センサブロックに外力がかからないとき、板ばねの弾性力によってセンサブロックの先端面が正面を向くようセンサブロックの姿勢が保持される。このため、センサブロックの先端面を構造物の円弧状表面により円滑に接触させることができる。
【００２２】
【発明の実施の形態】
以下、本発明の実施の形態を図面に基づき詳細に説明する。
【００２３】
図１は本発明の実施の形態に係る検査装置の装置本体の構造を示す斜視図、図２は図１に示す検査装置本体に備えたＸ軸移動機構部を抽出し一部破断して示す拡大側面図、図３は図１に示す検査装置本体に備えたクッションスプリング機構部を抽出して示す拡大断面図、図４は図１に示す検査装置本体に備えたジンバル機構部を抽出して示す拡大斜視図である。
【００２４】
図１に示すように、検査装置本体１は、Ｘ軸移動機構２、Ｙ軸移動機構３、Ｚ軸移動機構４、クッションスプリング機構５、ジンバル機構６、センサブロック１７等を備えている。
【００２５】
この装置本体１は、磁石１４ａ，１４ｂを側面に有する保持具１３ａ，１３ｂを所定の間隔で炉壁管Ｒに吸着させた後、保持具１３ａ，１３ｂに突設されているボルト１１ａ，１１ｂを、Ｘ軸移動機構２に一体的に設けられたＸ軸移動機構両端下部のブラケット１０ａ，１０ｂの穴１０ａ−１，１０ｂ−１に差し込むと共に、ボルト１１ａ，１１ｂに蝶ナット１２ａ，１２ｂを螺合させて保持具１３ａ，１３ｂとブラケット１０ａ，１０ｂとを締結することにより、炉壁管Ｒに取り付けられている。
【００２６】
そして、Ｘ軸移動機構２とＹ軸移動機構３とＺ軸移動機構４の各軸方向（長手方向）が相互に直交しているため（詳細後述）、上記のようにして装置本体１を炉壁管Ｒに取付けることにより、図示の如く、Ｘ軸移動機構２の軸方向は炉壁管Ｒの表面に沿った水平方向（以下、この方向をＸ軸方向という。図中の矢印Ｘ参照）となり、Ｙ軸移動機構３の軸方向は炉壁管Ｒの表面に沿った上下方向（以下、この方向をＹ軸方向という。図中の矢印Ｙ参照）となり、Ｚ軸移動機構４の軸方向は炉壁管Ｒの表面に向かう方向（以下、この方向をＺ軸方向という。図中の矢印Ｚ参照）となる。
【００２７】
Ｘ軸移動機構２の構成を図２に示す。同図に示すように、Ｘ軸移動機構２は、ベース２２と、ベース２２に挿通され且つベース２２の両端部に回転可能に支持されたねじ軸２３と、ねじ軸２３の図中右端部に継ぎ手２４を介して回転軸が連結された回転検出器付モータ２０と、ねじ軸２３に螺合されたスライド２１とを備えて構成されている。従って、モータ２０によってねじ軸２３を回転すると、スライド２１がねじ軸２３に沿ってＸ軸方向に直線的に移動する。
【００２８】
Ｙ軸移動機構３とＺ軸移動機構４も、寸法や形状に多少の相違はあるものの、基本的には上記Ｘ軸移動機構２と同様の構成である。即ち、Ｙ軸移動機構３とＺ軸移動機構４のベース３２，４２、ねじ軸３３，４３、継ぎ手３４，４４、回転検出器付モータ３０，４０及びスライド３１，４１が、Ｘ軸移動機構２のベース２２、ねじ軸２３、継ぎ手２４、回転検出器付モータ２０及びスライド２１に対応する。なお、Ｙ軸移動機構３のスライド３１は、ねじ軸３３に沿ってＹ軸方向に直線的に移動し、Ｚ軸移動機構４のスライド４１は、ねじ軸４３に沿ってＺ軸方向に直線的に移動する。
【００２９】
そして、Ｘ軸移動機構２のスライド２１とＹ軸移動機構３のベース３２とが結合され、Ｙ軸移動機構３のスライド３１とＺ軸移動機構４のベース４２とが結合されているため、Ｘ軸移動機構２のスライド２１がＸ軸方向に移動すると、このスライド２１に伴ってＹ軸移動機構３とＺ軸移動機構４とが同方向に移動し、更に、Ｙ軸移動機構３のスライド３１がＹ軸方向に移動すると、このスライド３１に伴ってＺ軸移動機構４が同方向に移動する。
【００３０】
また、図１に示すように、Ｚ軸移動機構４のスライド４１にはクッションスプリング機構５が結合され、クッションスプリング機構５の先端部にはジンバル機構６が結合されており、このジンバル機構６によって超音波センサを内蔵したセンサブロック１７が支持されている。
【００３１】
クッションスプリング機構５の構成を図３に示す。同図に示すように、外筒５１の中心部に、Ｚ軸方向に沿うよう可動軸５２が挿通されている。この可動軸５２は、大径部５２ａと小径部５２ｂとからなると共に、外筒５１の両端部に嵌挿された軸受５１ａ，５１ｂに支持され、軸方向（Ｚ軸方向）に移動可能となっている。そして、可動軸５２の段部５２_ｃと図中右側の軸受５６ａとの間にはスプリング５３が介設されている。
【００３２】
可動軸５２の図中右端部にはストッパ５４が設けられ、可動軸５２の図中左端部にはフランジ５５を介してジンバル機構６の軸受６１が結合されている。外筒５１の外周面にはブラケット５７が設けられており、このブラケット５７がＺ軸移動機構４のスライド４１に結合されている。
【００３３】
また、ジンバル機構６の構成を図４に示す。同図に示すように、Ｚ軸方向に沿う軸６２が軸受６１によって回動可能に支持され、この軸６１に軸受６３が結合されている。また、軸受６３によってＸ軸方向に沿う軸６５が回動可能に支持され、この軸６５にコ字状のブロック６４の中央部が固定されている。更に、ブロック６４の上下両端部には軸受６４ａ，６４ｂが設けられており、これらの軸受６４ａ，６４ｂによってセンサブロック１７の上下両端面に突設されている軸６６ａ，６６ｂが回動可能に支持されている。
【００３４】
従って、センサブロック１７は、上記構成のジンバル機構６によって、図中の矢印Ｒ_Ｚの如く軸６２回りに回動し、また、図中の矢印Ｒ_Ｘの如く軸６５回りに回動し、更に、図中の矢印Ｒ_Ｙの如く軸６６ａ，６６ｂ回りに回動することができる。
【００３５】
しかも、ブロック６４に固定されたコ字状の板ばね７０ａ，７０ｂによってセンサブロック１７の両側面が挾持されており、センサブロック１７に外力がかからないときには、これらの板ばね７０ａ，７０ｂの弾性力によって、センサブロック１７の先端面１７ａが正面を向くようセンサブロック１７の姿勢が保持される。
【００３６】
また、センサブロック１７の先端面１７ａは、炉壁管Ｒの円弧状表面（凸面）に沿った円弧状の凹面となっている。
【００３７】
そして、図示しない制御部では、センサブロック１７の位置決めフィードバック制御を行う。即ち、Ｘ、Ｙ、Ｚ軸移動機構２，３，４の各モータ２０，３０，４０に付属の回転検出器からフィードバックされた回転検出信号（即ち、Ｘ、Ｙ、Ｚ軸の位置検出信号）に基づき、各モータ２０，３０，４０の回転を制御してスライド２１，３１，４１の移動量を制御することにより、センサブロック１７のＸ軸方向、Ｙ軸方向及びＺ軸方向の移動量を制御する。かくして炉壁管Ｒに対し、センサブロック１７（即ち超音波センサ）による綿密な走査が自動的に行われる（走査の具体例は後述）。
【００３８】
更に同制御部では、センサブロック１７によって走査される炉壁管Ｒの走査位置データと、センサブロック１７による検査データ（超音波センサのエコー高さデータ）とを対応させて記録する。
【００３９】
続いて、本検査装置による炉壁管の検査手順を説明する。
【００４０】
▲１▼ まず、保持具１３ａ、１３ｂによって装置本体１を炉壁管Ｒの任意の位置に取り付ける。
【００４１】
▲２▼ 装置本体１を取り付けた後、Ｘ、Ｙ、Ｚ軸移動機構２，３，４を作動させて、センサブロック１７（超音波センサ）の走査を開始する。
【００４２】
図５に示すように、まずＺ軸移動機構４によってセンサブロック１７をＺ軸方向（炉壁管Ｒに向かう方向）に移動させ、センサブロック１７の先端面１７ａを炉壁管Ｒの表面に接触させる。
【００４３】
センサブロック１７をＺ軸方向に移動させる際には、板ばね７０ａ，７０ｂの作用によってセンサブロック１７の先端面１７ａが正面を向いている。また、センサブロック１７は、クッションスプリング機構５を介してＺ軸移動機構４に接続されているため、このクッションスプリング機構５のスプリング５３の作用によって、柔らかく炉壁管Ｒに押し付けられる。
【００４４】
センサブロック１７を炉壁管Ｒに接触させた後、図５（ａ）中に矢印Ａで示すように、センサブロック１７をウィービングさせて、炉壁管Ｒの各位置を走査する。
【００４５】
即ち、Ｘ軸移動機構２によってセンサブロック１７を距離Ｘ_Ｗの範囲でＸ軸方向（左右方向）に往復移動させつつ、Ｙ軸移動機構３によってセンサブロック１７をＹ_ＰピッチだけＹ軸方向（上方向）に細かくピッチ移動させることによって、センサブロック１７をジグザグに走査させる。
【００４６】
センサブロック１７をＸ軸方向に移動させると、図５（ｂ）に示すように、センサブロック１７は、ジンバル機構６の軸６６ａ，６６ｂ回りに回動、即ち炉壁管Ｒの円弧状表面に倣って回動すると共に、クッションスプリング機構２に付勢されてＺ軸方向に移動（図中のΔＺ）する。このため、Ｘ軸移動機構２を制御してセンサブロック１７をＸ軸方向に直線的に移動させるだけで、センサブロック１７の先端面１７ａは炉壁管Ｒの円弧状表面に対して常に接触した状態となり、炉壁管Ｒの中心Ｃを向く。
【００４７】
更に、ジンバル機構６ではセンサブロック１７を軸６６ａ，６６ｂ回りだけでなく軸６２，６５回りにも回動させることができるためセンサブロック１７の姿勢を自在に変化させることができ、しかもクッションスプリング機構５によってセンサブロック１７を付勢しているので、炉壁管Ｒに対して相対的にＸ、Ｙ、Ｚ軸移動機構２，３，４の軸の位置、方向が完全に一致していなくても、ジンバル機構６とクッションスプリング機構５の作用によってセンサブロック１７の先端面１７ａが炉壁管Ｒの表面に確実になじむ。即ち、センサブロック１７の先端面１７ａが炉壁管Ｒの表面に密着する。
【００４８】
▲３▼ センサブロック１７の走査中には、センサブロック１７によって走査される炉壁管Ｒの走査位置データと、センサブロック１７による検査データとを自動的に記録する。
【００４９】
▲４▼ 当該炉壁管Ｒの検査が終了すると、続いて、Ｘ軸移動機構２によってセンサブロック１７を隣接する他の炉壁管Ｒへとピッチ移動させる。なお、かかるピッチ移動の際には、Ｚ軸移動機構４によってセンサブロック１７を炉壁管Ｒから引き離す。
【００５０】
▲５▼ 上記▲１▼〜▲４▼の手順を繰り返すことによって、所定範囲の炉壁管Ｒの検査が終了する。
【００５１】
▲６▼ 更に、他の範囲の炉壁管Ｒの検査を行う場合には、装置本体１を取り外した後、上記▲１▼〜▲５▼の手順を繰り返す。
【００５２】
以上のことから、本検査装置では、次のような効果が得られる。
【００５３】
▲１▼ センサブロック１７の走査を綿密に行うことができ、このため亀裂の検出精度が著しく向上して従来の手動走査のような亀裂の見落としがなくなる。従って、検査の信頼性が向上し、ボイラ水の漏洩事故を確実に防止することができる。しかも、装置本体１を炉壁管Ｒに取り付けた後は、機械的（自動的）に炉壁管Ｒの走査を行うことができるため、従来の手動走査よりも迅速に走査を行うことができる。このため、検査能率が大幅に向上し、検査員を増員することなく短期間に所要範囲の検査を綿密に行うことができ、また、熟練検査員の省力化が図れる。
【００５４】
▲２▼ クッションスプリング機構５によってセンサブロック１７の先端面１７ａを炉壁管Ｒの表面に柔らかく押し付けることができるため、センサブロック１７や炉壁管Ｒを破損させる虞がない。
【００５５】
▲３▼ クッションスプリング機構５によってセンサブロック１７の先端面１７ａを炉壁管Ｒの表面に押し付けると共に、ジンバル機構６によってセンサブロック１７を炉壁管Ｒの円弧状表面に倣って軸６６ａ，６６ｂ回りに回動させることができるため、Ｘ軸移動機構２によってセンサブロック１７を単にＸ軸方向に直線的に移動させるだけで、常にセンサブロック１７の先端面１７ａを炉壁管Ｒの円弧状表面に接触させることができる。
【００５６】
▲４▼ センサブロック１７の先端面１７ａが炉壁管Ｒの円弧状表面に沿った円弧状の凹面となっているため、より確実にセンサブロック１７の先端面１７ａを炉壁管Ｒの円弧状表面に接触させることができる。
【００５７】
▲５▼ ジンバル機構６７ではセンサブロック１７を軸６６ａ，６６ｂ回りだけでなく軸６２，６５回りにも回動可能に支持しているため、炉壁管Ｒの円弧状表面に対してＸ、Ｙ、Ｚ軸移動機構２，３，４のセッティング誤差に伴うセンサブロック１７の微小な傾きがあっても、このセンサブロック１７の先端面１７ａを炉壁管Ｒの円弧状表面に確実になじませることができる。
【００５８】
▲６▼ センサブロック１７に外力がかからないときには、板ばね７０ａ，７０ｂによって、センサブロック１７の先端面１７ａが正面を向くようにセンサブロック１７の姿勢が保持されるため、センサブロック１７の先端面１７ａを炉壁管Ｒの円弧状表面により円滑に接触させることができる。
【００５９】
▲７▼ 検査位置データと検査データとがセットで自動的に記録されるため、記録作業の能率も向上する。従って、その分、検査能率がより向上する
【００６０】
なお、上記では、センサブロック１７をＸ軸方向に往復移動しつつＹ軸方向にピッチ移動するようにして走査を行っているが、勿論これに限定するものではなく、センサブロック１７の移動の仕方は任意に選択することができる。例えば、センサブロック１７をＹ軸方向に往復移動しつつＸ軸方向にピッチ移動するようにしてもよい。
【００６１】
【発明の効果】
以上、発明の実施の形態と共に具体的に説明したように、本発明の検査装置によれば、検査部を第１、第２及び第３の移動手段によって第１、第２及び第３の方向に任意に移動させることができる。このため、これら各方向の移動を適宜組み合わせることによって検査部の走査を綿密に行うことができる。従って、検査の信頼性が向上し、火力発電用ボイラの炉壁管検査に適用した場合にはボイラ水の漏洩事故を確実に防止することができる。また、機械的（自動的）に構造物の走査を行うことができるため、従来の手動走査よりも迅速に走査を行うことができる。このため、検査能率が大幅に向上し、検査員を増員することなく短期間に所要範囲の検査を綿密に行うことができ、また、熟練検査員の省力化が図れる。
【００６２】
また、検査部の先端面を構造物の表面に押し付ける押し付け手段を備えることにより、検査部を第３の移動手段によって第３の方向（構造物に近づく方向）に移動させて検査部の先端面を構造物の表面に当接させる際、押し付け手段によって柔らかく押し付けることができる。このため、検査部や構造物を破損させる虞がない。
【００６３】
また、押し付け手段によって検査部の先端面を構造物の円弧状表面に押し付けると共に、支持手段によって検査部を構造物の円弧状表面に倣って回動るよう支持することにより、検査部を単に直線的に移動させるだけで、常に検査部の先端面を構造物の円弧状表面に接触させることができる。
【００６４】
また、検査部の先端面を構造物の円弧状表面に沿った円弧状の凹面とすることにより、より確実に検査部の先端面を構造物の円弧状表面に接触させることができる。
【００６５】
また、検査部を前記第１、第２及び第３の方向に沿う各軸回りに回動可能に支持するジンバル機構を備えることにより、構造物の表面に対して第１、第２及び第３の移動手段のセッティング誤差に伴う検査部の微小な傾きがあっても、この検査部の先端面を構造物の表面に確実になじませることができる。
【００６６】
また、検査部であるセンサブロックの両側面を挾持するコ字状の板ばねを備え、前記センサブロックに外力がかからないとき、前記板ばねの弾性力によって前記センサブロックの先端面が正面を向くよう前記センサブロックの姿勢を保持する構成とした保持手段を備えることにより、前記センサブロックの先端面を構造物の円弧状表面により円滑に接触させることができる。
【図面の簡単な説明】
【図１】本発明の実施の形態に係る検査装置の装置本体の構造を示す斜視図である。
【図２】図１に示す検査装置本体に備えたＸ軸移動機構部を抽出し一部破断して示す拡大側面図である。
【図３】図１に示す検査装置本体に備えたクッションスプリング機構部を抽出して示す拡大断面図である。
【図４】図１に示す検査装置本体に備えたジンバル機構部を抽出して示す拡大斜視図である。
【図５】具体的な走査例を示す説明図である。
【図６】超音波センサによる炉壁管の亀裂検査の説明図である。
【図７】従来の人手による炉壁管検査の状況を示す説明図である。
【符号の説明】
１装置本体
２Ｘ軸移動機構
３Ｙ軸移動機構
４Ｚ軸移動機構
５クッションスプリング機構
６ジンバル機構
１０ａ，１０ｂブラケット
１１ａ，１１ｂボルト
１２ａ，１２ｂ蝶ナット
１３ａ，１３ｂ保持具
１７超音波センサ内蔵のセンサブロック
１７ａ先端面
２０，３０，４０回転検出器付モータ
２１，３１，４１スライド
２２，３２，４２ベース
２３，３３，４３ねじ軸
２４，３４，４４継ぎ手
５１外筒
５２可動軸
５２ａ大径部
５２ｂ小径部
５３スプリング
５４ストッパ
５５フランジ
５６ａ，５６ｂ軸受
５７ブラケット
６１，６３，６４ａ，６４ｂ軸受
６２，６５，６６ａ，６６ｂ軸
６４ブロック
７０ａ，７０ｂ板ばね
Ｒ炉壁管[0001]
TECHNICAL FIELD OF THE INVENTION
The present invention relates to an inspection device, and is particularly useful when applied to the inspection of a furnace wall tube of a boiler for thermal power generation, and is also applicable to inspection of various structures such as a chimney, a tower, and a steel tower. It is useful.
[0002]
[Prior art]
In thermal power plants, cracks due to stress corrosion may occur on the inner surface of the furnace wall tube (evaporation tube) in the furnace of the boiler (near the metal weld on the tube surface) due to aging, and this crack Boiler water may leak. Therefore, in a thermal power plant, inspection of a furnace wall tube is performed in order to detect a crack generated in the furnace wall tube at an early stage and to prevent a boiler water leak accident that may cause the boiler to stop.
[0003]
In the inspection of the furnace wall tube, as shown in FIG. 6, an ultrasonic sensor S is applied to the surface of the furnace wall tube R, and a beam (ultrasonic wave) output from the ultrasonic sensor S is applied to the inside of the tube wall of the furnace wall tube. Is carried out. K in FIG. 6 is a crack generated on the inner surface of the furnace wall tube.
[0004]
Conventionally, an inspection of a furnace wall tube using this ultrasonic sensor is performed by an operator pressing the ultrasonic sensor S against the surface of the furnace wall tube from inside the furnace and moving (scanning) as shown in FIG. I was
[0005]
[Problems to be solved by the invention]
However, the above-described manual inspection method has the following disadvantages.
[0006]
{Circle around (1)} The scanning of the ultrasonic sensor for finding a crack defect tends to be coarse, and the crack is easily overlooked.
{Circle around (2)} Since it takes time to scan the ultrasonic sensor and fill in the inspection data, the efficiency is low, and a large number of inspectors are required to inspect many places in a short time.
[0007]
Accordingly, the present invention has been made in view of the above prior art, and to provide an inspection unit inspecting apparatus as possible out be performed carefully and efficiently scanning the (ultrasonic sensor) for structures such as the furnace wall tubes.
[0008]
[Means for Solving the Problems]
A first configuration of the present invention that solves the above-mentioned problem has mounting means for mounting an apparatus main body on a surface of a structure,
An inspection unit that moves on the surface of the structure to inspect each position of the structure;
First moving means for linearly moving the inspection unit in a first direction along the surface of the structure;
Second moving means for linearly moving the inspection unit in a second direction along the surface of the structure and orthogonal to the first direction;
Third moving means for linearly moving the inspection unit in a third direction orthogonal to the first and second directions ;
Pressing means for pressing the distal end surface of the inspection unit against the surface of the structure by the elastic force of an elastic member;
When the surface of the structure is an arc-shaped convex surface, a support means rotatably supporting the inspection unit so as to rotate the inspection unit following the arc-shaped surface of the structure is provided in the apparatus main body. ,
The support means is a gimbal mechanism that supports the inspection unit so as to be rotatable around each axis along the first, second, and third directions .
[0009]
Further, the second configuration has an attaching means for attaching the apparatus main body on the surface of the structure,
An inspection unit that moves on the surface of the structure to inspect each position of the structure;
First moving means for linearly moving the inspection unit in a first direction along the surface of the structure;
Second moving means for linearly moving the inspection unit in a second direction along the surface of the structure and orthogonal to the first direction;
Third moving means for linearly moving the inspection unit in a third direction orthogonal to the first and second directions;
Pressing means for pressing the distal end surface of the inspection unit against the surface of the structure by the elastic force of an elastic member ;
When the surface of the structure is an arc-shaped convex surface, a support means rotatably supporting the inspection unit so as to rotate the inspection unit following the arc-shaped surface of the structure is provided in the apparatus main body. ,
The tip end surface of the inspection unit is an arc-shaped concave surface along the arc-shaped surface of the structure,
The support means is a gimbal mechanism that supports the inspection unit so as to be rotatable around each axis along the first, second, and third directions .
[0010]
Further, the third configuration has an attaching means for attaching the apparatus main body on the surface of the structure,
An inspection unit that moves on the surface of the structure to inspect each position of the structure;
First moving means for linearly moving the inspection unit in a first direction along the surface of the structure;
Second moving means for linearly moving the inspection unit in a second direction along the surface of the structure and orthogonal to the first direction;
Third moving means for linearly moving the inspection unit in a third direction orthogonal to the first and second directions;
Pressing means for pressing the distal end surface of the inspection unit against the surface of the structure by the elastic force of an elastic member;
And a support means for the surface of the structure is the measurement part following the case of the arc-shaped convex surface facing the arcuate surface of the structure is rotatably supported the inspection unit so as to pivot on the apparatus body ,
The support means includes a U-shaped leaf spring for holding both side faces of the sensor block serving as the inspection section. When no external force is applied to the sensor block, the distal end face of the sensor block is resiliently applied by the leaf spring. And a holding unit configured to hold the posture of the sensor block so that the front side faces the front .
[0011]
Further, the fourth configuration has an attaching means for attaching the apparatus main body on the surface of the structure,
An inspection unit that moves on the surface of the structure to inspect each position of the structure;
First moving means for linearly moving the inspection unit in a first direction along the surface of the structure;
Second moving means for linearly moving the inspection unit in a second direction along the surface of the structure and orthogonal to the first direction;
Third moving means for linearly moving the inspection unit in a third direction orthogonal to the first and second directions;
Pressing means for pressing the distal end surface of the inspection unit against the surface of the structure by the elastic force of an elastic member;
When the surface of the structure is an arc-shaped convex surface, a support means rotatably supporting the inspection unit so as to rotate the inspection unit following the arc-shaped surface of the structure is provided in the apparatus main body. ,
The tip end surface of the inspection unit is an arc-shaped concave surface along the arc-shaped surface of the structure ,
The support means includes a U-shaped leaf spring for holding both side faces of the sensor block serving as the inspection section. When no external force is applied to the sensor block, the distal end face of the sensor block is resiliently applied by the leaf spring. And a holding unit configured to hold the posture of the sensor block so that the front side faces the front .
[0012]
According to a fifth configuration, in the first or second configuration, the support means includes a U-shaped leaf spring for holding both side surfaces of the sensor block serving as the inspection unit. When an external force is not applied, a holding unit configured to hold a posture of the sensor block by an elastic force of the leaf spring so that a front end surface of the sensor block faces the front is provided .
[0015]
Therefore, according to the inspection apparatus of the first , second, third, fourth and fifth configurations, although a specific example of movement will be described later, the inspection unit is connected to the first, second and third moving means. , Can be arbitrarily moved in the first, second, and third directions. For this reason, by appropriately combining these movements in each direction, the scanning of the inspection unit can be performed precisely and quickly.
In addition, when the inspection unit is moved in the third direction (direction approaching the structure) by the third moving unit so that the distal end surface of the inspection unit contacts the surface of the structure, the inspection unit can be pressed softly by the pressing unit. .
In addition, the tip end surface of the inspection unit is pressed against the arc-shaped surface of the structure by the pressing means, and the inspection unit is supported by the support means so as to rotate following the arc-shaped surface of the structure. By simply moving the tip, the tip end surface of the inspection unit can always be brought into contact with the arc-shaped surface of the structure.
Further, according to the inspection apparatus of the second, fourth and fifth configurations, the distal end surface of the inspection section is an arc-shaped concave surface along the arc-shaped surface of the structure. Can be brought into contact with the arc-shaped surface of the structure.
Further, according to the inspection apparatus of the first, second and fifth configurations, the inspection unit is supported by the gimbal mechanism so as to be rotatable around each axis along the first, second and third directions. Therefore, even if there is a slight inclination of the inspection unit due to a setting error of the first, second, and third moving means with respect to the surface of the structure, the tip surface of the inspection unit is surely placed on the surface of the structure. Can be adapted.
Further, according to the inspection apparatus of the third, fourth and fifth configurations, when no external force is applied to the sensor block, the posture of the sensor block is held by the elastic force of the leaf spring so that the front end surface of the sensor block faces the front. Is done. For this reason, the tip end surface of the sensor block can be smoothly brought into contact with the arc-shaped surface of the structure.
[0022]
BEST MODE FOR CARRYING OUT THE INVENTION
Hereinafter, embodiments of the present invention will be described in detail with reference to the drawings.
[0023]
FIG. 1 is a perspective view showing a structure of an apparatus main body of an inspection apparatus according to an embodiment of the present invention, and FIG. 2 is an X-axis moving mechanism provided in the inspection apparatus main body shown in FIG. FIG. 3 is an enlarged sectional view showing a cushion spring mechanism provided in the inspection apparatus main body shown in FIG. 1, and FIG. 4 is an enlarged sectional view showing a gimbal mechanism provided in the inspection apparatus main body shown in FIG. It is an expanded perspective view shown.
[0024]
As shown in FIG. 1, the inspection apparatus main body 1 includes an X-axis moving mechanism 2, a Y-axis moving mechanism 3, a Z-axis moving mechanism 4, a cushion spring mechanism 5, a gimbal mechanism 6, a sensor block 17, and the like.
[0025]
After the holding members 13a and 13b having the magnets 14a and 14b on the side surfaces are adsorbed to the furnace wall tube R at predetermined intervals, the apparatus body 1 removes the bolts 11a and 11b projecting from the holding members 13a and 13b. Are inserted into the holes 10a-1 and 10b-1 of the brackets 10a and 10b at the lower ends of the X-axis moving mechanism provided integrally with the X-axis moving mechanism 2, and the wing nuts 12a and 12b are screwed into the bolts 11a and 11b. Then, the holders 13a, 13b and the brackets 10a, 10b are fastened to each other, whereby the holders 13a, 13b are attached to the furnace wall tube R.
[0026]
Since the axial directions (longitudinal directions) of the X-axis moving mechanism 2, the Y-axis moving mechanism 3, and the Z-axis moving mechanism 4 are orthogonal to each other (details will be described later), the apparatus main body 1 is furnace By attaching to the wall tube R, the axial direction of the X-axis moving mechanism 2 is horizontal along the surface of the furnace wall tube R as shown in the figure (hereinafter, this direction is referred to as the X-axis direction; see arrow X in the figure). The axial direction of the Y-axis moving mechanism 3 is the vertical direction along the surface of the furnace wall tube R (hereinafter, this direction is referred to as the Y-axis direction; see the arrow Y in the drawing), and the axial direction of the Z-axis moving mechanism 4 Is a direction toward the surface of the furnace wall tube R (hereinafter, this direction is referred to as a Z-axis direction; see an arrow Z in the drawing).
[0027]
FIG. 2 shows the configuration of the X-axis moving mechanism 2. As shown in the figure, the X-axis moving mechanism 2 includes a base 22, a screw shaft 23 inserted through the base 22 and rotatably supported at both ends of the base 22, and a right end of the screw shaft 23 in the drawing. The motor includes a rotation detector-equipped motor 20 to which a rotation shaft is connected via a joint 24, and a slide 21 screwed to a screw shaft 23. Accordingly, when the screw shaft 23 is rotated by the motor 20, the slide 21 moves linearly in the X-axis direction along the screw shaft 23.
[0028]
The Y-axis moving mechanism 3 and the Z-axis moving mechanism 4 have basically the same configuration as the X-axis moving mechanism 2, though there are some differences in size and shape. That is, the bases 32 and 42, the screw shafts 33 and 43, the joints 34 and 44, the motors 30 and 40 with rotation detectors, and the slides 31 and 41 of the Y-axis moving mechanism 3 and the Z-axis moving mechanism 4 , A screw shaft 23, a joint 24, a motor 20 with a rotation detector, and a slide 21. The slide 31 of the Y-axis moving mechanism 3 moves linearly in the Y-axis direction along the screw axis 33, and the slide 41 of the Z-axis moving mechanism 4 moves linearly in the Z-axis direction along the screw axis 43. Move to
[0029]
Then, the slide 21 of the X-axis moving mechanism 2 and the base 32 of the Y-axis moving mechanism 3 are connected, and the slide 31 of the Y-axis moving mechanism 3 and the base 42 of the Z-axis moving mechanism 4 are connected. When the slide 21 of the axis moving mechanism 2 moves in the X-axis direction, the Y-axis moving mechanism 3 and the Z-axis moving mechanism 4 move in the same direction along with the slide 21, and the slide 31 of the Y-axis moving mechanism 3 further moves. Moves in the Y-axis direction, the Z-axis moving mechanism 4 moves in the same direction along with the slide 31.
[0030]
As shown in FIG. 1, a cushion spring mechanism 5 is coupled to the slide 41 of the Z-axis moving mechanism 4, and a gimbal mechanism 6 is coupled to a tip end of the cushion spring mechanism 5. A sensor block 17 having a built-in ultrasonic sensor is supported.
[0031]
FIG. 3 shows the configuration of the cushion spring mechanism 5. As shown in the drawing, a movable shaft 52 is inserted through the center of the outer cylinder 51 along the Z-axis direction. The movable shaft 52 includes a large-diameter portion 52a and a small-diameter portion 52b, and is supported by bearings 51a and 51b fitted to both ends of the outer cylinder 51, and is movable in the axial direction (Z-axis direction). ing. Then, the spring 53 is interposed between the step portion 52 _c and the right side in the drawing of the bearing 56a of the movable shaft 52.
[0032]
A stopper 54 is provided at the right end of the movable shaft 52 in the drawing, and a bearing 61 of the gimbal mechanism 6 is coupled to the left end of the movable shaft 52 through a flange 55 in the drawing. A bracket 57 is provided on the outer peripheral surface of the outer cylinder 51, and the bracket 57 is connected to the slide 41 of the Z-axis moving mechanism 4.
[0033]
FIG. 4 shows the configuration of the gimbal mechanism 6. As shown in the figure, a shaft 62 along the Z-axis direction is rotatably supported by a bearing 61, and a bearing 63 is coupled to the shaft 61. Further, a shaft 65 along the X-axis direction is rotatably supported by the bearing 63, and a central portion of a U-shaped block 64 is fixed to the shaft 65. Further, bearings 64a, 64b are provided at both upper and lower ends of the block 64, and the bearings 64a, 64b rotatably support shafts 66a, 66b projecting from the upper and lower end surfaces of the sensor block 17. Have been.
[0034]
Therefore, the sensor block 17, the gimbal mechanism 6 configured as described above, rotates the shaft 62 about as indicated by an arrow R _Z in the drawing also rotates the shaft 65 about as indicated by an arrow R _X in the figure, further , Can rotate around the shafts 66a and 66b as indicated by the arrow _{RY in} the drawing.
[0035]
In addition, the U-shaped leaf springs 70a and 70b fixed to the block 64 hold both sides of the sensor block 17, and when no external force is applied to the sensor block 17, the elastic force of the leaf springs 70a and 70b applies The posture of the sensor block 17 is maintained such that the distal end face 17a of the sensor block 17 faces the front.
[0036]
The distal end face 17a of the sensor block 17 is an arc-shaped concave surface along the arc-shaped surface (convex surface) of the furnace wall tube R.
[0037]
Then, a control unit (not shown) performs positioning feedback control of the sensor block 17. That is, a rotation detection signal fed back from a rotation detector attached to each of the motors 20, 30, and 40 of the X, Y, and Z axis moving mechanisms 2, 3, and 4 (ie, a position detection signal of the X, Y, and Z axes). By controlling the rotations of the motors 20, 30, and 40 to control the amounts of movement of the slides 21, 31, and 41, the amounts of movement of the sensor block 17 in the X-axis direction, the Y-axis direction, and the Z-axis direction Control. In this manner, a precise scan by the sensor block 17 (that is, an ultrasonic sensor) is automatically performed on the furnace wall tube R (a specific example of the scan will be described later).
[0038]
Further, the control unit records the scanning position data of the furnace wall tube R scanned by the sensor block 17 and the inspection data (echo height data of the ultrasonic sensor) by the sensor block 17 in association with each other.
[0039]
Subsequently, the inspection procedure of the furnace wall tube by the inspection apparatus will be described.
[0040]
{Circle around (1)} First, the apparatus main body 1 is attached to an arbitrary position of the furnace wall tube R by the holders 13a and 13b.
[0041]
{Circle around (2)} After the apparatus main body 1 is attached, the X, Y, and Z axis moving mechanisms 2, 3, and 4 are operated to start scanning of the sensor block 17 (ultrasonic sensor).
[0042]
As shown in FIG. 5, first, the sensor block 17 is moved in the Z-axis direction (the direction toward the furnace wall tube R) by the Z-axis moving mechanism 4, and the tip surface 17 a of the sensor block 17 contacts the surface of the furnace wall tube R. Let it.
[0043]
When the sensor block 17 is moved in the Z-axis direction, the distal end face 17a of the sensor block 17 faces the front due to the action of the leaf springs 70a and 70b. Since the sensor block 17 is connected to the Z-axis moving mechanism 4 via the cushion spring mechanism 5, the sensor block 17 is softly pressed against the furnace wall tube R by the action of the spring 53 of the cushion spring mechanism 5.
[0044]
After the sensor block 17 is brought into contact with the furnace wall tube R, the sensor block 17 is weaved to scan each position of the furnace wall tube R as shown by an arrow A in FIG.
[0045]
That is, while reciprocating in the X-axis direction (lateral direction) by the X-axis moving mechanism 2 a sensor block 17 in the range of the distance X _W, the Y-axis moving mechanism 3 of the sensor block 17 only Y _P pitch Y-axis direction (upward Direction), the sensor block 17 is scanned in a zigzag manner.
[0046]
When the sensor block 17 is moved in the X-axis direction, as shown in FIG. 5B, the sensor block 17 rotates around the axes 66a and 66b of the gimbal mechanism 6, that is, on the arc-shaped surface of the furnace wall tube R. While rotating along with it, it is urged by the cushion spring mechanism 2 to move in the Z-axis direction (ΔZ in the figure). For this reason, only by controlling the X-axis moving mechanism 2 to move the sensor block 17 linearly in the X-axis direction, the distal end face 17a of the sensor block 17 is always in contact with the arc-shaped surface of the furnace wall tube R. It is in a state and faces the center C of the furnace wall tube R.
[0047]
Further, in the gimbal mechanism 6, the sensor block 17 can be rotated not only around the shafts 66a and 66b but also around the shafts 62 and 65, so that the posture of the sensor block 17 can be freely changed. Since the sensor block 17 is urged by 5, the positions and directions of the axes of the X, Y, and Z axis moving mechanisms 2, 3, 4 relative to the furnace wall tube R do not completely match. Also, the distal end face 17a of the sensor block 17 is surely adapted to the surface of the furnace wall tube R by the action of the gimbal mechanism 6 and the cushion spring mechanism 5. That is, the front end face 17a of the sensor block 17 comes into close contact with the surface of the furnace wall tube R.
[0048]
(3) While the sensor block 17 is scanning, the scan position data of the furnace wall tube R scanned by the sensor block 17 and the inspection data by the sensor block 17 are automatically recorded.
[0049]
{Circle around (4)} When the inspection of the furnace wall tube R is completed, subsequently, the sensor block 17 is pitch-moved by the X-axis moving mechanism 2 to another furnace wall tube R adjacent thereto. During the pitch movement, the sensor block 17 is separated from the furnace wall tube R by the Z-axis moving mechanism 4.
[0050]
(5) By repeating the above steps (1) to (4), the inspection of the furnace wall tube R in a predetermined range is completed.
[0051]
{Circle around (6)} When the furnace wall tube R in another range is to be inspected, the above procedures (1) to (5) are repeated after removing the apparatus body 1.
[0052]
From the above, the following effects can be obtained in the present inspection apparatus.
[0053]
{Circle around (1)} The scanning of the sensor block 17 can be performed precisely, so that the accuracy of crack detection is significantly improved, and the oversight of cracks unlike conventional manual scanning is eliminated. Therefore, the reliability of the inspection is improved, and the leakage accident of the boiler water can be reliably prevented. Moreover, since the furnace wall tube R can be mechanically (automatically) scanned after the apparatus main body 1 is attached to the furnace wall tube R, the scanning can be performed more quickly than the conventional manual scanning. . For this reason, the inspection efficiency is greatly improved, the inspection of a required range can be performed in a short period of time without increasing the number of inspectors, and the labor of skilled inspectors can be reduced.
[0054]
{Circle around (2)} Since the tip end face 17a of the sensor block 17 can be softly pressed against the surface of the furnace wall tube R by the cushion spring mechanism 5, there is no possibility of damaging the sensor block 17 and the furnace wall tube R.
[0055]
{Circle around (3)} The tip end surface 17a of the sensor block 17 is pressed against the surface of the furnace wall tube R by the cushion spring mechanism 5, and the sensor block 17 is rotated around the shafts 66a and 66b by the gimbal mechanism 6 following the arc-shaped surface of the furnace wall tube R. Since the sensor block 17 is simply moved linearly in the X-axis direction by the X-axis moving mechanism 2, the tip surface 17 a of the sensor block 17 is always kept on the arc-shaped surface of the furnace wall tube R. Can be contacted.
[0056]
{Circle around (4)} Since the distal end face 17a of the sensor block 17 is an arc-shaped concave surface along the arcuate surface of the furnace wall tube R, the distal end surface 17a of the sensor block 17 is more reliably formed into an arc shape of the furnace wall tube R. Can be brought into contact with the surface.
[0057]
{Circle around (5)} Since the gimbal mechanism 67 supports the sensor block 17 so as to be rotatable not only around the shafts 66a and 66b but also around the shafts 62 and 65, the X and Y are set with respect to the arc-shaped surface of the furnace wall tube R. Even if there is a slight inclination of the sensor block 17 due to a setting error of the Z-axis moving mechanisms 2, 3, and 4, the tip surface 17a of the sensor block 17 is surely fitted to the arc-shaped surface of the furnace wall tube R. Can be.
[0058]
{Circle around (6)} When no external force is applied to the sensor block 17, the leaf springs 70a and 70b hold the attitude of the sensor block 17 so that the front end face 17a of the sensor block 17 faces the front. Can be smoothly brought into contact with the arc-shaped surface of the furnace wall tube R.
[0059]
{Circle around (7)} Since the inspection position data and the inspection data are automatically recorded as a set, the efficiency of the recording operation is improved. Therefore, the inspection efficiency is further improved.
In the above description, the scanning is performed by reciprocating the sensor block 17 in the X-axis direction and moving the sensor block 17 in the Y-axis direction. However, the present invention is not limited to this, and the method of moving the sensor block 17 is not limited to this. Can be arbitrarily selected. For example, the sensor block 17 may be pitch-moved in the X-axis direction while reciprocating in the Y-axis direction.
[0061]
【The invention's effect】
As described above in detail with the embodiments of the present invention, according to the inspection apparatus of the present invention, the inspection unit is moved by the first, second, and third moving means in the first, second, and third directions. Can be moved arbitrarily. Therefore, the scanning of the inspection unit can be performed precisely by appropriately combining the movements in these directions. Therefore, the reliability of the inspection is improved, and when applied to the furnace wall tube inspection of the boiler for thermal power generation, the leakage accident of the boiler water can be reliably prevented. Further, since the structure can be mechanically (automatically) scanned, the scanning can be performed more quickly than the conventional manual scanning. For this reason, the inspection efficiency is greatly improved, the inspection of a required range can be performed in a short period of time without increasing the number of inspectors, and the labor of skilled inspectors can be reduced.
[0062]
Further, by providing pressing means for pressing the distal end surface of the inspection section against the surface of the structure, the inspection section is moved in a third direction (direction approaching the structure) by the third moving means, and the distal end surface of the inspection section is moved. Can be softly pressed by pressing means when abutting against the surface of the structure. For this reason, there is no possibility of damaging the inspection unit or the structure.
[0063]
In addition, the tip end surface of the inspection unit is pressed against the arc-shaped surface of the structure by the pressing means, and the inspection unit is supported by the support means so as to rotate along the arc-shaped surface of the structure. By simply moving the tip, the tip end surface of the inspection unit can always be brought into contact with the arc-shaped surface of the structure.
[0064]
In addition, by forming the distal end surface of the inspection unit as an arc-shaped concave surface along the arc surface of the structure, the distal end surface of the inspection unit can be more reliably brought into contact with the arc surface of the structure.
[0065]
In addition, by providing a gimbal mechanism that supports the inspection unit so as to be rotatable around each axis along the first, second, and third directions, the first, second, and third surfaces of the structure can be provided. Even if there is a slight inclination of the inspection unit due to the setting error of the moving means, the tip surface of the inspection unit can be surely fitted to the surface of the structure.
[0066]
Further, a U-shaped leaf spring for sandwiching both side surfaces of the sensor block, which is an inspection section , is provided so that when no external force is applied to the sensor block , the elastic force of the leaf spring causes the front end face of the sensor block to face front. by providing the structure and the holding means for holding the posture of the sensor block can be smoothly contacted by arcuate surface of the structure to the distal end surface of the sensor block.
[Brief description of the drawings]
FIG. 1 is a perspective view showing a structure of an apparatus main body of an inspection apparatus according to an embodiment of the present invention.
FIG. 2 is an enlarged side view showing an X-axis moving mechanism provided in the inspection apparatus main body shown in FIG. 1 and partially cut away.
FIG. 3 is an enlarged cross-sectional view showing a cushion spring mechanism provided in the inspection apparatus main body shown in FIG. 1;
FIG. 4 is an enlarged perspective view showing a gimbal mechanism provided in the inspection apparatus main body shown in FIG. 1;
FIG. 5 is an explanatory diagram showing a specific scanning example.
FIG. 6 is an explanatory diagram of crack inspection of a furnace wall tube by an ultrasonic sensor.
FIG. 7 is an explanatory view showing a situation of a conventional furnace wall tube inspection by hand.
[Explanation of symbols]
DESCRIPTION OF SYMBOLS 1 Device main body 2 X-axis moving mechanism 3 Y-axis moving mechanism 4 Z-axis moving mechanism 5 Cushion spring mechanism 6 Gimbal mechanism 10a, 10b Brackets 11a, 11b Bolts 12a, 12b Wing nuts 13a, 13b Holder 17 Sensor with built-in ultrasonic sensor Block 17a Tip surfaces 20, 30, 40 Motors 21, 31, 41 with rotation detectors Slides 22, 32, 42 Bases 23, 33, 43 Screw shafts 24, 34, 44 Joint 51 Outer cylinder 52 Movable shaft 52a Large diameter portion 52b Small diameter portion 53 Spring 54 Stopper 55 Flange 56a, 56b Bearing 57 Bracket 61, 63, 64a, 64b Bearing 62, 65, 66a, 66b Shaft 64 Block 70a, 70b Leaf spring R Furnace wall tube

Claims

Having mounting means for mounting the device body on the surface of the structure,
An inspection unit that moves on the surface of the structure to inspect each position of the structure;
First moving means for linearly moving the inspection unit in a first direction along the surface of the structure;
Second moving means for linearly moving the inspection unit in a second direction along the surface of the structure and orthogonal to the first direction;
Third moving means for linearly moving the inspection unit in a third direction orthogonal to the first and second directions ;
Pressing means for pressing the distal end surface of the inspection unit against the surface of the structure by the elastic force of an elastic member;
When the surface of the structure is an arc-shaped convex surface, a support means rotatably supporting the inspection unit so as to rotate the inspection unit following the arc-shaped surface of the structure is provided in the apparatus main body. ,
The inspection apparatus according to claim 1, wherein the support unit is a gimbal mechanism that supports the inspection unit so as to be rotatable around each axis along the first, second, and third directions .

Having mounting means for mounting the device body on the surface of the structure,
An inspection unit that moves on the surface of the structure to inspect each position of the structure;
First moving means for linearly moving the inspection unit in a first direction along the surface of the structure;
Second moving means for linearly moving the inspection unit in a second direction along the surface of the structure and orthogonal to the first direction;
Third moving means for linearly moving the inspection unit in a third direction orthogonal to the first and second directions;
Pressing means for pressing the distal end surface of the inspection unit against the surface of the structure by the elastic force of an elastic member ;
When the surface of the structure is an arc-shaped convex surface, a support means rotatably supporting the inspection unit so as to rotate the inspection unit following the arc-shaped surface of the structure is provided in the apparatus main body. ,
The tip end surface of the inspection unit is an arc-shaped concave surface along the arc-shaped surface of the structure,
The inspection apparatus according to claim 1, wherein the support unit is a gimbal mechanism that supports the inspection unit so as to be rotatable around each axis along the first, second, and third directions .

Having mounting means for mounting the device body on the surface of the structure,
An inspection unit that moves on the surface of the structure to inspect each position of the structure;
First moving means for linearly moving the inspection unit in a first direction along the surface of the structure;
Second moving means for linearly moving the inspection unit in a second direction along the surface of the structure and orthogonal to the first direction;
Third moving means for linearly moving the inspection unit in a third direction orthogonal to the first and second directions;
Pressing means for pressing the distal end surface of the inspection unit against the surface of the structure by the elastic force of an elastic member;
And a support means for the surface of the structure is the measurement part following the case of the arc-shaped convex surface facing the arcuate surface of the structure is rotatably supported the inspection unit so as to pivot on the apparatus body ,
The support means includes a U-shaped leaf spring for holding both side faces of the sensor block serving as the inspection section. When no external force is applied to the sensor block, the distal end face of the sensor block is resiliently applied by the leaf spring. An inspection apparatus comprising: a holding unit configured to hold a posture of the sensor block so that the sensor block faces the front .

Having mounting means for mounting the device body on the surface of the structure,
An inspection unit that moves on the surface of the structure to inspect each position of the structure;
First moving means for linearly moving the inspection unit in a first direction along the surface of the structure;
Second moving means for linearly moving the inspection unit in a second direction along the surface of the structure and orthogonal to the first direction;
Third moving means for linearly moving the inspection unit in a third direction orthogonal to the first and second directions;
Pressing means for pressing the distal end surface of the inspection unit against the surface of the structure by the elastic force of an elastic member;
When the surface of the structure is an arc-shaped convex surface, a support means rotatably supporting the inspection unit so as to rotate the inspection unit following the arc-shaped surface of the structure is provided in the apparatus main body. ,
The tip end surface of the inspection unit is an arc-shaped concave surface along the arc-shaped surface of the structure ,
The support means includes a U-shaped leaf spring for holding both side faces of the sensor block serving as the inspection section. When no external force is applied to the sensor block, the distal end face of the sensor block is resiliently applied by the leaf spring. An inspection apparatus comprising: a holding unit configured to hold a posture of the sensor block so that the sensor block faces the front .

The inspection device according to claim 1 or 2 ,
The support means includes a U-shaped leaf spring for holding both side faces of the sensor block serving as the inspection section. When no external force is applied to the sensor block, the distal end face of the sensor block is resiliently applied by the leaf spring. An inspection apparatus comprising: a holding unit configured to hold a posture of the sensor block so that the sensor block faces the front .