JP2019113478A - Travel apparatus for inspecting steel material - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide a traveling device for steel material inspection capable of stable traveling on an inspection object made of a steel material regardless of the condition of the inspection object and without damaging the inspection object. SOLUTION: A vehicle body equipped with a steel material inspection mechanism for inspecting the appearance of a steel material, a traveling wheel for traveling on the surface of the steel material as an inspection target attached to the vehicle body, and a traveling wheel are two-dimensionally traveled. In a traveling device for steel material inspection including a drive mechanism for freely driving and a magnet member provided on the bottom surface of the vehicle body, the vehicle body maintains a space distance for maintaining a space distance between the magnet member and an object to be inspected. It is equipped with a mechanism, and the vehicle body is equipped with a steel material inspection unit as a steel material inspection mechanism. [Selection diagram] Fig. 3

Description

  The present invention relates to a traveling device for inspecting the appearance of a steel material, and in particular, the spatial distance between a magnet member provided on the bottom of the traveling device and the steel material as an inspection object is fixed using the adsorption force of the magnet member. The steel inspection and traveling apparatus that enables inspection of the appearance of steel while holding the

  Conventionally, a self-propelled flaw detection apparatus is known which performs ultrasonic flaw detection on a test object made of steel, such as a steel floor slab in a bridge or the like (see, for example, Patent Document 1).

  This self-propelled flaw detection apparatus comprises a self-propelled car body, a means (permanent magnet) for attracting and holding the car body on the lower surface of the inspection object by magnetic force, and an ultrasonic flaw detection part. It is attached to the car body so as to move in contact with the flat lower surface of the inspection object, has a predetermined configuration element, has a sliding body, and has a thread, ultrasonic probe and elastic means attached to the sliding body, The ultrasonic probe and the elastic means are moved integrally with the sled upon movement for position adjustment in the width direction of the vehicle, the elastic means is composed of a pair of coiled springs, and the sled has predetermined component elements. It is equipped and configured.

  With such a configuration, this self-propelled flaw detection apparatus self-propelled while being held magnetically by the test object made of steel material as an inspection object, for example, a steel floor slab in a bridge etc. Ultrasonic waves are radiated from the lower surface side to a welded portion with the deck, and ultrasonic flaw detection such as crack inspection can be performed by receiving the reflected waves.

  There is also an inspection device of a structure which uses a magnet in a portion in contact with an inspection object such as a wheel of a traveling device (see, for example, Patent Document 2).

  This inspection apparatus is an inspection apparatus for a boiler furnace wall pipe which moves and inspects while adsorbing the wall surface of the furnace wall pipe by using a magnet wheel on a traveling carriage.

JP 5674419 B2 Patent document 1: JP-A-2001-254904

  According to the self-propelled flaw detection apparatus described in Patent Document 1, when the object to be inspected is wet or dirty, the frictional force between the magnet and the object to be inspected is reduced and the driving force is reduced, which hinders traveling. It may cause

  Further, in the inspection apparatus described in Patent Document 2, since the surface of the object to be inspected and the object to be inspected are coated because the magnet wheel traveling on the furnace wall tube which is the object to be inspected is used. The coating may be damaged.

  The object of the present invention is to solve the above-mentioned problems, such as inner and outer surfaces of piping made of steel, bottom plate of tank, side plate, top plate and various containers, columns, piers, inside of internally lined steel pipe etc. It is an object of the present invention to provide a traveling device for steel material inspection which can stably travel various inspection objects regardless of the condition of the inspection object and does not damage the inspection object.

  In order to solve the above-mentioned subject, in the 1st mode of the present invention, in order to run on the surface of the steel body which carries the steel inspection mechanism for inspecting the appearance of steel materials and which is attached to a vehicle and which is an inspection object In a traveling device for steel material inspection comprising a traveling wheel for driving, a drive mechanism for driving the traveling wheel for two-dimensional traveling freely, and a magnet member provided on the bottom of the vehicle body, the vehicle body comprises the magnet member and the inspection object A space distance holding mechanism is provided for holding a space distance between them, and the vehicle body is characterized in that a steel inspection unit as a steel inspection mechanism is mounted.

  Further, according to a second aspect of the present invention, in the first aspect, the spatial distance holding mechanism is a pair of spatial distance holding wheels provided on both sides of the magnet member.

  Furthermore, according to a third aspect of the present invention, in the second aspect, the pair of clearance distance maintaining wheels can adjust the clearance distance by replacing and using wheels having different wheel diameters. .

  Further, according to a fourth aspect of the present invention, in the first aspect, the space distance holding mechanism includes a gear mechanism for moving the magnet member up and down.

  Further, according to a fifth aspect of the present invention, in the first aspect, the steel inspection unit comprises a steel appearance inspection unit.

  The sixth aspect of the present invention is characterized in that, in the fifth aspect, the steel appearance inspection unit includes an imaging unit.

  Further, according to a seventh aspect of the present invention, in the first aspect, the steel inspection unit comprises an ultrasonic flaw detection unit.

  The eighth aspect of the present invention is characterized in that, in the second aspect, the magnet member is fixed to the shaft provided with an air supply passage for supplying compressed air to the inside.

  According to the present invention, a space can be provided between the magnet member provided on the bottom of the vehicle body and the steel material to be inspected, and the space distance can be held constant by the space distance holding mechanism. The adsorptive power to the steel material can be stabilized, and the driving force of the traveling wheels does not decrease even when the inspection object is wet or dirty.

  In addition, since not a magnet wheel but a rubber material having a large frictional force is used as a traveling wheel, the surface of the object to be inspected is not damaged.

BRIEF DESCRIPTION OF THE DRAWINGS It is an external view of the traveling apparatus for steel materials inspection of this invention. It is the external view which looked at the traveling device for steel materials inspection of the present invention from the bottom side of a vehicle body. BRIEF DESCRIPTION OF THE DRAWINGS It is a figure for demonstrating the 1st Example in the travel apparatus for steel-materials inspection of this invention, (A) represents the condition which test | inspects the convex part of a test object, (B) test | inspects the recessed part Is a diagram showing the situation of It is a figure for demonstrating the operation | movement which spaces apart a magnet member from a test subject in 1st Example of the travel apparatus for steel-materials inspection of this invention. It is a wiring diagram for demonstrating the operation | movement of the traveling apparatus for steel materials inspection of this invention. It is a figure for demonstrating the 2nd Example in the traveling apparatus for steel materials inspection of the present invention, and (A) expresses the situation which inspects a convex part of an inspection subject, (B) inspects a crevice of an inspection subject Is a diagram showing the situation of

  BEST MODE FOR CARRYING OUT THE INVENTION Hereinafter, an embodiment of a traveling device for steel material inspection according to the present invention will be described based on the drawings.

  FIG. 1 is an external view of a traveling device for steel material inspection of the present invention. In the traveling device for steel material inspection of the present invention, a steel material inspection unit 2 is provided in a vehicle body 1. The steel material inspection unit 2 can use, as a steel material appearance inspection unit, an imaging unit that captures an image of an appearance of a steel material as an inspection object using a camera or the like. Alternatively, the steel inspection unit 2 can use an ultrasonic flaw detection unit for inspecting the condition of a flaw on the surface of the steel using ultrasonic waves.

  Further, the vehicle body 1 is provided with traveling wheels 3. Although the driving wheel travels two-dimensionally on the surface of the steel material to be inspected by the drive mechanism, the traveling wheel 3 may be driven directly by the drive mechanism to travel the surface of the steel material. As shown in FIG. 1, the power of the drive wheel 4 may be transmitted to the traveling wheel 3 by the caterpillar 5 for traveling. When the traveling wheel 3 uses a rubber material having a large frictional force, stable traveling can be performed by being in contact with the surface of the steel material with certainty.

  FIG. 2 is a view of the traveling device for steel material inspection of the present invention as viewed from the bottom side of the vehicle body 1. A magnet member 6 is provided on the bottom of the vehicle body 1. For the magnet member 6, for example, a permanent magnet made of neodymium or the like having a strong magnetic force is suitable. An adsorptive force by magnetic force works between the magnet member 6 and the steel material to be inspected, and the car body 1 can stably travel on the surface of the steel material by this adsorptive force.

  By the way, although there is a traveling wheel 3 between the magnet member 6 and the steel material to be inspected, there is a space, but the surface of the steel material is convex as in the outer surface of the pipe or as the inner surface of the pipe. It is not only a flat surface that is concave or has fine irregularities such as welds. Therefore, the spatial distance between the magnet member 6 and the steel material often changes.

  If the spatial distance changes, the adsorption force between the magnet member 6 and the steel material also changes, which makes it difficult for the vehicle body 1 to travel stably. In the traveling apparatus for steel material inspection of the present invention, the vehicle body 1 is provided with the space distance holding mechanism for holding the above-mentioned space distance.

  As shown in FIG. 2, the space distance holding mechanism is provided with a pair of space distance holding wheels 7 on both sides of a magnet member 6 provided on the bottom of the vehicle body 1 as the first embodiment. The space distance holding wheel 7 contacts the surface of the steel material and rotationally moves as the traveling wheel 3 travels, but it is structured to be able to move up and down finely with a spring or the like, and the steel surface is convex or concave, Or, when there are fine irregularities, the space distance holding wheel 7 is moved up and down so that the space distance between the magnet member 6 and the steel material can be kept constant.

  As described above, if the space distance between the magnet member 6 and the steel material can be kept constant, the attraction force of the magnet member 6 to the steel material does not change, and the steel material inspection traveling device can stably travel. The accuracy of the inspection can be reliably improved by, for example, eliminating blurring in the photographed image and stably transmitting and receiving the ultrasonic signal from the ultrasonic flaw detection unit.

  FIG. 3 is a view for explaining the case where the shape of the steel material is not flat in the first embodiment of the traveling device for inspecting a steel material of the present invention, and (A) shows a state of inspecting a convex portion of the steel; 2.) is a view showing the condition of inspecting the concave portion of the steel material.

  FIG. 3A shows an example in which the steel material 8 is convex like the outer surface of the pipe, and a pair of magnet members 6 are provided on the inside of the traveling wheel 3 attached to the vehicle body 1. There is provided a wheel 7 for maintaining a spatial distance. The magnet member 6 is housed inside the housing 9, and the housing 9 has a cylinder structure.

  An axle of the space distance maintaining wheel 7 is connected to the housing 9, and the space distance maintaining wheel 7 can be moved up and down. Therefore, the housing 9 moves up and down with the up and down movement of the space distance holding wheel 7, and the magnet member 6 stored in the housing 9 can also move up and down. The distance holding wheel 7 moves up and down, and the magnet member 6 moves up and down following the movement. Thus, the spatial distance between the magnet member 6 and the steel member 8 is always kept constant.

  FIG. 3 (B) shows an example in which the steel material 8 is concaved like, for example, the inner surface of a pipe, and the condition of the surface of the steel material 8 is the same as the case where the steel 8 is convex. Accordingly, the magnet member 6 accommodated in the housing 9 moves up and down together with the space distance holding wheel 7, and the space distance between the magnet member 6 and the steel material 8 is always kept constant.

  The spatial distance between the magnet member 6 and the steel material due to the condition of the surface of the steel material to be inspected, the difference in the inner diameter and the outer diameter when the steel material is tubular, or the difference in the magnetic force of the magnet member 6 used. It may be necessary to make the difference. In such a case, a plurality of wheels having different diameters of the space distance holding wheel 7 are prepared, and the space distance holding having a diameter corresponding to the space distance required to hold an optimum space distance The space distance can be adjusted by replacing with the wheel 7.

  In FIGS. 3A and 3B, the magnet member 6 is provided with a shaft 10 penetrating a central portion, and an air supply passage 11 is provided inside the shaft 10. As shown in an enlarged manner in FIG. 4, the air supply passage 11 can send compressed air through the compressed air insertion port 12. The air supply passage 11 is opened at the bottom of the housing 9. The shaft 10 is externally threaded, and the shaft 10 and the magnet member 6 are fixed by a nut 13.

  Here, if the traveling device for inspecting a steel material can not travel for some reason, it may be difficult to remove the traveling device from the steel material due to the adsorption force of the magnet member 6. In such a case, when compressed air is instantaneously sent to the air supply passage 11, as described above, the air supply passage 11 is opened at the bottom of the housing 9, and the housing 9 has a cylinder structure. The compressed air sent to contact the bottom surface of the housing 9 causes the magnet member 6 to float along with the shaft 10. As a result, the space distance between the magnet member 6 and the steel material 8 is increased, the adsorption force of the magnet member 6 is reduced, and the traveling device can be removed.

  Here, the operation of the traveling device for steel material inspection of the present invention will be described with reference to FIG. Electric power from the AC power supply 50 through the noise cut transformer 51 is converted to direct current by the controller-side DC power supply 52 and supplied to the controller 53, the controller-side CPU 54, the controller-side PLC (power line communication) adapter 55 and the monitor 56. Control signals from the controller 53 are transmitted from the controller CPU 54 and the controller PLC adapter 55 to the traveling device PLC adapter 57. Electric power is supplied from the traveling device side DC power supply 59 to the traveling device side CPU adapter 58, the traveling device side CPU 58, the appearance inspection mechanism 2 and the traveling wheels 3 including the traveling device side PLC adapter 57. The control signal transmitted from the traveling device PLC adapter 57 drives the traveling wheels 3 via the traveling device CPU 58 and controls the steel material inspection unit 2.

  As described above, the control of the steel inspection unit 2 is performed by rotating the imaging unit or the ultrasonic flaw detection unit by, for example, the rotary motor 2a or the swing motor 2b or moving the imaging unit or the ultrasonic flaw detection unit vertically or horizontally. The presence or absence is inspected, and the condition of the steel material 8 inspected in this manner can be observed on the monitor 56 as an image or as a waveform at all times.

  Next, a second embodiment of the steel inspection testing apparatus of the present invention will be described. In the second embodiment of the traveling device for inspecting a steel material according to the present invention, as shown in FIGS. 6A and 6B, a magnet member 6 accommodated in a housing 9 and a rack and drive driven by, for example, a motor 14 A gear mechanism 15 such as a pinion system is fixed by a nut 16.

  By the motor 14 and the gear mechanism 15, the magnet member 6 is moved up and down so that the space distance between the magnet member 6 and the steel member 8 is maintained at the optimum distance. FIG. 6A shows an example in which the steel material 8 is convex, and FIG. 6B shows an example in which the steel 8 is concave.

  In the example shown in FIG. 6A, since the steel material 8 is convex, the housing 9 housing the magnet member 6 is moved to almost the same plane as the bottom surface of the vehicle body 1 in order to maintain the optimum space distance. Hold On the other hand, in the example shown in FIG. 6B, since the steel material 8 is on the concave surface, the housing 9 housing the magnet member 6 is moved below the bottom of the vehicle body 1 to maintain the optimum space distance. Hold

  The spatial distance between the magnet member 6 and the steel member 8 is determined by the condition of the surface of the steel material to be inspected, the difference in inner and outer diameters when the steel member is tubular, or the difference in the magnetic force of the magnet member 6 used. If it is necessary to make the difference, the gear mechanism 15 can be finely moved up and down by the motor 14 for adjustment.

  As in the first embodiment, when the traveling device for inspecting a steel material becomes unable to travel for some reason, the motor 14 and the gear mechanism 15 operate to instantly separate the magnet member 6 from the steel member 8 The space distance between the magnet member 6 and the steel material 8 is increased. As a result, the adsorptive power of the magnet member 6 is reduced, and the traveling device can be removed.

  As described above, the traveling apparatus for inspecting a steel material according to the present invention is structured such that the spatial distance between the magnet member and the steel material to be inspected can be held constant by using the adsorption force of the magnet member, so traveling is stable. The vibration of the steel inspection unit is suppressed and the accuracy of inspection is improved.

  In addition, the traveling apparatus for inspecting steel materials of the present invention can also travel in a posture against gravity because it travels using the adsorption force of the magnet members, and in the case of traveling the inner surface of steel piping, elbows, T-shaped pipes, reducers, etc. You can easily drive the

  Furthermore, the structure of the traveling device is simplified because the adsorption force of the magnet member is used, and downsizing can be achieved. Therefore, it can be applied to steel structures of various sizes, and the scope of application can be expanded.

  In addition, since the structure of the traveling device is simplified, the traveling device can be reduced in weight, and the weight including the cable can be reduced, and the traveling distance can be extended.

Reference Signs List 1 vehicle body 2 steel inspection unit 3 traveling wheel 4 driving wheel 5 caterpillar 6 magnetic member 7 space distance maintaining wheel 8 Steel material 9: Case 10: Shaft 11: Air supply passage 12: Compressed air insertion port 13: Nut 14: Motor 15: Gear mechanism 16: Nut

Claims (8)

A vehicle body equipped with a steel inspection mechanism for inspecting the appearance of steel;
A traveling wheel mounted on the vehicle body and traveling on a surface of a steel material as an inspection object;
A drive mechanism for driving the traveling wheels in a two-dimensional manner;
A traveling device for inspecting a steel material, comprising: a magnet member provided on a bottom portion of the vehicle body;
The vehicle body is provided with a space distance holding mechanism for holding a space distance between the magnet member and the inspection object;
A traveling device for inspecting a steel material, wherein the vehicle body is mounted with a steel material inspection unit as the steel material inspection mechanism.   The traveling device for steel material inspection according to claim 1, wherein the space distance holding mechanism is a pair of space distance holding wheels provided on both sides of the magnet member.   The traveling device for steel material inspection according to claim 2, wherein the space distance can be adjusted by replacing the wheels having different wheel diameters and using the pair of space distance maintaining wheels.   The traveling apparatus for inspecting a steel material according to claim 1, wherein the space distance holding mechanism comprises a gear mechanism for moving the magnet member up and down.   A traveling device for steel inspection according to claim 1, wherein said steel inspection unit comprises a steel appearance inspection unit.   6. The steel inspection traveling apparatus according to claim 5, wherein the steel appearance inspection unit includes an imaging unit.   The traveling device for steel inspection according to claim 1, wherein the steel inspection unit comprises an ultrasonic flaw detection unit.   The traveling device for steel material inspection according to claim 2, wherein the magnet member is fixed to a shaft provided with an air supply passage for supplying compressed air inside.

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