Pipe processing device and pipe processing method

A pipe processing device provided with a subject insertion body (1) includes an insertion end portion (2) that is provided on a front side of the subject insertion body inserted into the pipe and is formed on an outer diameter smaller than an inner diameter of the pipe, an axial ultrasonic sensor (21) that transmits and receives a sonic wave in an insertion direction with respect to a front end of the insertion end portion, a radial ultrasonic sensor (22) that transmits and receives a sonic wave in a direction intersecting a center axis at a side portion of the insertion end portion, and a control unit that controls the movement mechanism according to detection results of the axial ultrasonic sensor and the radial ultrasonic sensor.

FIELD

The present invention relates to, for example, a pipe processing device and a pipe processing method for inspecting or processing a pipe, and more particularly, to a pipe processing device and a pipe processing method capable of disposing the processing device at the center of the pipe with high precision.

BACKGROUND

For example, in nuclear paraphernalia, a pipe is regularly inspected by an inspection device in order to ensure safety and reliability thereof. Then, when a surface defect such as a crack caused by a secular change occurs or when it is determined that a surface defect caused by a secular change occurs at a welding portion of a nozzle of the pipe as a result of the inspection, there is a need to cut or repair a concerned portion by a processing device. Such a processing device that inspects or processes the pipe is inserted from an opening portion of the pipe as a subject, but it is preferable to insert the processing device so that the processing device passes through the center of the pipe in order to inspect or process the pipe with high precision. In the nuclear paraphernalia, since the pipe is inspected or processed under a radiation environment, it is preferable to move the processing device by a remote operation in consideration of safety, but particularly, in a pipe with a relatively small diameter, it is difficult to insert the processing device so that the processing device passes through the center of the pipe by the remote operation.

In the related art, for example, a pipe inspecting device and a pipe inspecting method described in Patent Literature 1 are simply used to accurately dispose an ultrasonic sensor at the center of the pipe to detect a flaw with high precision. Then, in the device which includes an ultrasonic sensor, a driving unit, a position control unit, and an ultrasonic transmission and reception control unit and detects a flaw in a substantially cylindrical pipe, the sensor is disposed such that the pipe axis matches the sensor rotation axis and is rotated while scanning the pipe so as to detect a flaw on a pipe inner face in the radial direction. Here, the device further includes a position correcting unit which calculates the position of the pipe axis based on an ultrasonic signal, an ultrasonic propagation time, and position information of the sensor obtained by the scanning of the sensor while transmitting an ultrasonic wave in a direction perpendicular to the axis from the sensor disposed at a position assumed as the axis of the pipe before detecting the flaw and generates and transmits a control signal for correcting the position of the sensor to the position of the calculated pipe axis.

CITATION LIST

Patent Literature

SUMMARY

Technical Problem

In the pipe inspecting device and the pipe inspecting method described in Patent Literature 1, the ultrasonic sensor for detecting a flaw is used as the ultrasonic sensor that obtains the position information for calculating the position of the pipe axis. For this reason, the ultrasonic sensor is disposed to face the pipe inner face. That is, the pipe inspecting device described in Patent Literature 1 does not include any means for obtaining the position information of the pipe and any guidance for inserting the device into the opening portion when inserting the device into the pipe.

The invention has been made to solve the problems described above, and an object of the invention is to provide a pipe processing device and a pipe processing method capable of guiding the pipe processing device into a pipe for insertion and guiding the pipe processing device for insertion so that the pipe processing device passes through the center of the pipe.

Solution to Problem

According to an aspect of the present invention, a pipe processing device provided with an subject insertion body, which is inserted into a pipe from an opening portion of the pipe, to be movable by a movement mechanism in an axial direction along a center axis of the subject insertion body, a radial direction perpendicular to the center axis, a rotation direction of rotating about the center axis, and an oblique direction oblique with respect to the center axis, the pipe processing device includes: an insertion end portion that is provided on a front side of the subject insertion body to be inserted into the pipe and is formed in a smaller outer diameter than an inner diameter of the pipe; an axial ultrasonic sensor that transmits and receives a sonic wave in an insertion direction with respect to a front end of the insertion end portion; a radial ultrasonic sensor that transmits and receives a sonic wave in a direction intersecting the center axis at a side portion of the insertion end portion; and a control unit that controls the movement mechanism according to detection results of the axial ultrasonic sensor and the radial ultrasonic sensor.

According to the pipe processing device, the subject insertion body is disposed at a position of detecting a distance from the outer edge of the opening portion of the pipe by the axial ultrasonic sensor; the subject insertion body is moved in a radial direction to a position where the distance detected by the axial ultrasonic sensor is larger than the outer edge of the opening portion of the pipe; the subject insertion body is moved in an axial direction to a position where an inner face of the pipe is detected by the radial ultrasonic sensor; a distance from the inner face of the pipe is detected by the radial ultrasonic sensor while rotating the subject insertion body in a rotation direction, and the subject insertion body is moved in a radial direction to a position where the distance is the same; the subject insertion body is moved in an axial direction by a predetermined distance, a distance from the inner face of the pipe is detected by the radial ultrasonic sensor while rotating the subject insertion body in a rotation direction, and the subject insertion body is moved in a radial direction to a position where the distance is the same; and the subject insertion body is moved in an oblique direction to a position where the center axis matches a line connecting two points with the same distance from the inner face of the pipe and the subject insertion body is moved in an axial direction to insert the subject insertion body into the pipe. For this reason, the subject insertion body is inserted into the pipe with the center axis matching the center axis of the pipe. As a result, it is possible to guide the subject insertion body into the pipe for insertion and to guide the subject insertion body for insertion so that the subject insertion body passes through the center of the pipe.

Advantageously, in the pipe processing device, the insertion end portion is formed to be tapered toward the front side.

According to the pipe processing device, the subject insertion body is moved in the axial direction to the position where the inner face of the pipe is detected by the radial ultrasonic sensor, the distance from the inner face of the pipe is detected by the radial ultrasonic sensor while rotating the subject insertion body in the rotation direction, the subject insertion body is moved in the radial direction to the position where the distance is the same, the subject insertion body is moved in the axial direction by the predetermined distance, the distance from the inner face of the pipe is detected by the radial ultrasonic sensor while rotating the subject insertion body in the rotation direction, the subject insertion body is moved in the radial direction to the position where the distance is the same, and the subject insertion body is moved in the oblique direction to the position where the center axis matches the line connecting two points with the same distance from the inner face of the pipe. In this case, it is possible to prevent the insertion end portion from coming in contact with the inner face of the pipe. As a result, it is possible to move the subject insertion body to the more accurate position.

Advantageously, the pipe processing device further includes a sensor support portion that is provided on the side portion of the subject insertion body and in which a plurality of inspection ultrasonic sensors transmitting and receiving a sonic wave in a direction intersecting the center axis is disposed along the center axis. A plurality of the sensor support portions is provided at symmetrical positions about the center axis.

According to the pipe processing device, it is possible to move the inspection ultrasonic sensor along the pipe inner face and to inspect the pipe with high precision.

Advantageously, in the pipe processing device, the sensor support portions are supported to be slidable in a radial direction perpendicular to the center axis, and are elastically biased in a protrusion direction.

According to the pipe processing device, since the sensor support portion comes in contact with the inner face of the pipe, it is possible to move the inspection ultrasonic sensor while coming in contact with the pipe inner face and to inspect the pipe with high precision. In addition, since the sensor support portion is moved in the radial direction along the unevenness of the pipe inner face, it is possible to allow the inspection ultrasonic sensor to follow the shape of the pipe inner face and to inspect the pipe with high precision.

Advantageously, in the pipe processing device, the sensor support portions are supported to be tiltable in a front and back direction of insertion.

According to the pipe processing device, since the sensor support portion is moved in the front and back direction along the unevenness of the pipe inner face, it is possible to allow the inspection ultrasonic sensor to follow the shape of the pipe inner face and to inspect the pipe with high precision.

Advantageously, in the pipe processing device, the sensor support portions supported to be tiltable in the front and back direction are elastically biased in the front direction.

According to the pipe processing device, since the front side of the subject insertion body is tapered so that the sensor support portion is inclined to the front side when the subject insertion body is inserted into the pipe, it is possible to smoothly perform the insertion of the subject insertion body.

Advantageously, in the pipe processing device, the sensor support portions are supported to be tiltable in a circumferential direction.

According to the pipe processing device, since the sensor support portion is moved in the circumferential direction along the unevenness of the pipe inner face, it is possible to allow the inspection ultrasonic sensor to follow the shape of the pipe inner face and to inspect the pipe with high precision.

Advantageously, in the pipe processing device, at least three inspection ultrasonic sensors are disposed along the center axis with respect to the sensor support portions, and the inspection ultrasonic sensor positioned on the intermediate side is supported to be slidable in a protrusion direction from an outer face of the sensor support portion and is elastically biased in the protrusion direction.

Since a plurality of sonic waves is transmitted and received at different angles due to arranging a plurality of inspection ultrasonic sensors, precision in detection is improved. When at least three inspection ultrasonic sensors are disposed, the inspection ultrasonic sensor on the intermediate side may be separated from the pipe inner face by the unevenness of the pipe inner face. From this point, according to the pipe processing device, since the inspection ultrasonic sensor positioned on the intermediate side is elastically biased to protrude from the outer face of the sensor support portion, the inspection ultrasonic sensor positioned on the intermediate side is prevented from being separated from the pipe inner face by the unevenness of the pipe inner face, and hence it is possible to inspect the pipe with high precision.

Advantageously, in the pipe processing device, a plurality of protrusion portions provided to protrude on the side portion of the subject insertion body is provided at symmetrical positions about the center axis, is supported to be slidable in a radial direction perpendicular to the center axis, and is elastically biased in a protrusion direction.

According to the pipe processing device, since the protrusion portion is moved in the radial direction along the unevenness of the pipe inner face while coming in contact with the pipe inner face, it is possible to keep the state where the center axis matches the center axis of the pipe.

Advantageously, in the pipe processing device, the protrusion portions are equally disposed in a circumferential direction about the center axis as a reference along with the sensor support portions.

According to the pipe processing device, since each protrusion portion and each sensor support portion are equally disposed in the circumferential direction in the pipe, it is possible to stably keep the state where the center axis matches the center axis of the pipe.

Advantageously, in the pipe processing device, at least one outer corner of the subject insertion body, the insertion end portion, the sensor support portion, or the protrusion portion is arc or chamfered-processed.

According to the pipe processing device, it is possible to smoothly move the device in a case of the insertion of the device into the pipe, the movement of the device in the pipe, and the extraction of the device from the pipe.

According to another aspect of the present invention, a pipe processing method for moving the pipe processing device according to any one of claims1to11by the movement mechanism to insert the pipe processing device from the opening portion of the pipe into the pipe, the method includes: disposing the subject insertion body at a position of detecting a distance from an outer edge of the opening portion of the pipe by the axial ultrasonic sensor; moving the subject insertion body in a radial direction to a position where the distance detected by the axial ultrasonic sensor is larger than the outer edge of the opening portion of the pipe; moving the subject insertion body in an axial direction to a position where an inner face of the pipe is detected by the radial ultrasonic sensor; detecting a distance from the inner face of the pipe by the radial ultrasonic sensor while rotating the subject insertion body in a rotation direction, and moving the subject insertion body in a radial direction to a position where the distance is the same; moving the subject insertion body in an axial direction by a predetermined distance, detecting a distance from the inner face of the pipe by the radial ultrasonic sensor while rotating the subject insertion body in a rotation direction, and moving the subject insertion body in a radial direction to a position where the distance is the same; and moving the subject insertion body in an oblique direction to a position where the center axis matches a line connecting two points with the same distance from the inner face of the pipe and moving the subject insertion body in an axial direction to insert the subject insertion body into the pipe.

According to the pipe processing method, the subject insertion body is inserted into the pipe while the insertion of the device into the pipe is guided and the center axis of the subject insertion body matches the center axis of the pipe. As a result, it is possible to guide the subject insertion body into the pipe for insertion and to guide the subject insertion body for insertion so that the subject insertion body passes through the center of the pipe.

Advantageous Effects of Invention

According to the invention, it is possible to guide the subject insertion body into the pipe for insertion and to guide the subject insertion body for insertion so that the subject insertion body passes through the center of the pipe.

DESCRIPTION OF EMBODIMENTS

Hereinafter, an embodiment according to the invention will be described in detail with reference to the drawings. In addition, the invention is not limited to the embodiment. In addition, constituents in the following embodiment include a constituent which may be easily replaced by a person skilled in the art or a constituent which has substantially the same configuration.

FIG. 1is a schematic diagram illustrating an example of nuclear paraphernalia, andFIG. 2is a horizontal cross-sectional view of a reactor vessel. As illustrated inFIG. 1, a nuclear paraphernalia100is, for example, a pressurized water reactor (PWR). In the nuclear paraphernalia100, a reactor vessel101, a pressurizer102, a steam generator103, and a pump104are sequentially connected by a primary cooling water pipe105, to configure a circulation path of primary cooling water. In addition, a circulation path of secondary cooling water is formed between the steam generator103and a turbine (not illustrated).

In the nuclear paraphernalia100, the primary cooling water is heated in the reactor vessel101to a high temperature and a high pressure, is pressurized in the pressurizer102to keep the pressure constant, and is supplied to the steam generator103through the primary cooling water pipe105. In the steam generator103, a heat exchange between the primary cooling water and the secondary cooling water is performed, and thus the secondary cooling water is evaporated to become steam. The secondary cooling water which becomes the steam by the heat exchange is supplied to the turbine. The turbine is driven by the steam of the secondary cooling water. Power of the turbine is transferred to a generator (not illustrated) to produce electric power. The steam provided for the driving of the turbine is condensed into water, which is supplied to the steam generator103. Meanwhile, the primary cooling water after the heat exchange is recovered in the pump104side through the primary cooling water pipe105.

In the steam generator103, as illustrated inFIG. 1, an inlet side channel head103aand an outlet side channel head103bare partitioned by a divider plate103cand provided at a lower portion formed in a semispherical shape. The inlet side channel head103aand the outlet side channel head103bare partitioned from the upper portion side of the steam generator103by a tube sheet103dprovided at a ceiling portion thereof. On the upper portion side of the steam generator103, an inverted U-shaped heat-transfer tube103eis provided. The end portion of the heat-transfer tube103eis supported by the tube sheet103dto connect the inlet side channel head103aand the outlet side channel head103b. In addition, the inlet side channel head103ais provided with an inlet nozzle103fas a pipe nozzle, and the inlet nozzle103fis connected to the primary cooling water pipe105on the inlet side. Meanwhile, the outlet side channel head103bis provided with an outlet nozzle103gas a pipe nozzle, and the outlet nozzle103gis connected to the primary cooling water pipe105on the outlet side.

As illustrated inFIG. 1, the reactor vessel101includes a reactor vessel body101aand a reactor vessel head101bmounted thereon such that a fuel assembly (not illustrated) is inserted and extracted. The reactor vessel head101bis provided to be opened and closed to the reactor vessel body101a. The upper side of the reactor vessel body101ais opened, and the lower side is formed in a semispherical shape to form a closed cylindrical shape, in which an inlet nozzle101cand an outlet nozzle101dfor supplying and discharging light water as the primary cooling water are provided at the upper portion thereof. The outlet nozzle101dis connected to the primary cooling water pipe105to communicate with the inlet nozzle103fof the steam generator103. In addition, the inlet nozzle101cis connected to the primary cooling water pipe105to communicate with the outlet nozzle103gof the steam generator103. In addition, as illustrated inFIG. 2, the reactor vessel101is provided with a main water nozzle101ethat is a pipe for main water at a position to be flush with the inlet nozzle101cand the outlet nozzle101din the reactor vessel body101a. The main water nozzle101eis welded to a main water pipe101fthat is a pipe.

FIG. 3is a cross-sectional view of the main water nozzle. The main water nozzle101eis regularly inspected to secure safety or reliability of the nuclear paraphernalia100described above. As a result of the inspection, as illustrated inFIG. 3, when a surface defect such as a crack caused by the secular change occurs at a welding portion101gthat is a connection portion between the main water nozzle101eand the main water pipe101for when the surface defect caused by the secular change is found, the welding portion101gis cut or repaired.

The inspection or the process of cutting and repairing is performed, and thus the pipe processing device according to the embodiment is applied.FIG. 4is an external view of the pipe processing device according to the embodiment,FIG. 5is an external view in a state where the pipe processing device illustrated inFIG. 4is rotated about an axis by 90°,FIG. 6is an external view of the pipe processing device illustrated inFIG. 4viewed from the front side,FIG. 7is a cross-sectional view taken along the line A-A inFIG. 5,FIG. 8is a cross-sectional view taken along the line B-B inFIG. 4, andFIG. 9is a cross-sectional view taken along the line C-C inFIG. 4.

The pipe processing device is inserted into the pipe from the main water nozzle101eto the main water pipe101fin the reactor vessel101described above, and includes an subject insertion body1, an insertion end portion2provided on the front side of the subject insertion body1inserted into the pipe, and a fixed portion3provided on the back side of the subject insertion body1and fixed to a manipulator having a multi-joint structure (not illustrated) as a movement mechanism6(seeFIG. 10). The insertion end portion2is configured as the pipe processing device. In addition, in the pipe processing device, the insertion end portion2, the subject insertion body1, and the fixed portion3are disposed in this order from the front side of the insertion along the center axis S1. In addition, in the following description, an extending direction of the center axis S1(a direction taken along the center axis S1) is an axial direction, and a direction perpendicular to the center axis S1is a radial direction. In addition, a direction of inserting the pipe processing device into the pipe is an insertion direction, a side directed to the insertion direction is a front side, and a reverse direction thereto is a back side.

The insertion end portion2is formed with an outer diameter smaller than the inner diameters of the main water nozzle101eand the main water pipe101fas the pipe, and has a cylindrical shape based on the center axis S1as illustrated inFIGS. 4 to 7and9. Specifically, the insertion end portion2has a tapered face2ain which the front face is substantially flat and the outer face is inclined toward the front side based on a cone shape based on the center axis S1to be tapered toward the front side.

As illustrated inFIGS. 5 to 7, the insertion end portion2is provided with an axial ultrasonic sensor21and a radial ultrasonic sensor22. The axial ultrasonic sensor21is provided at the front end of the insertion end portion2, and transmits and receives sonic waves in the insertion direction along the center axis S1. The radial ultrasonic sensor22transmits and receives the sonic waves in a direction (the radial direction) intersecting (perpendicular to) the center axis S1.

As illustrated inFIGS. 4 to 6,8, and9, the subject insertion body1is configured basically with a main body portion10having a cylindrical shape based on the center axis S1. The main body portion10is formed with an outer diameter smaller than the inner diameters of the main water nozzle101eand the main water pipe101fas the pipe.

As illustrated inFIGS. 4 to 8, the subject insertion body1has sensor support portions11. The plurality of sensor support portions11is provided at symmetrical positions about the center axis S1to extend along the axial direction and protrudes on the side portion of the main body portion10. In the embodiment, two sensor support portions11are provided, and are disposed to protrude in opposing directions based on the center axis S1. In addition, although not illustrated in the figures, for example, when three sensor support portions11are provided, they are equally disposed in the circumferential direction based on the center axis S1.

The sensor support portion11is provided with a plurality of inspection ultrasonic sensors111along the axial direction. In the embodiment, one sensor support portion11is provided with three inspection ultrasonic sensors111along the axial direction. The inspection ultrasonic sensor111transmits and receives sonic waves in a direction intersecting with the center axis S1. In addition, when the subject insertion body1is inserted into the pipe, the individual inspection ultrasonic sensors111transmit and receive the sonic waves at different angles with respect to the direction (the radial direction) perpendicular to the center axis S1. This is because, when the sonic waves are transmitted and received at a single angle, reception sensitivity is decreased when there is a defect in the same direction as the angle, and thus the defect may not be detected. That is, the plurality of sonic waves is transmitted and received at different angles, and thus the detection precision is thereby improved.

In addition, as illustrated inFIG. 7, the subject insertion body1has a slide movement portion12. The slide movement portion12has a support member12aextending along the axial direction. The support member12asupports the sensor support portion11. In addition, the slide movement portion12has slide portions12bprovided to protrude to the side portion of the main body portion10outside both ends of the sensor support portion11, at both ends of the support member12a. In addition, the slide movement portion12has a slide shaft12c. The slide shaft12cextends in the direction perpendicular to the center axis S1and is fixed to the main body portion10. The slide portion12bis slidably inserted into the extending direction of the slide shaft12c. For this reason, the slide movement portion12is provided slidably in the direction perpendicular to the center axis S1in which the slide shaft12cextends. That is, the sensor support portion11supported by the slide movement portion12is provided slidably in the radial direction. In addition, the slide movement portion12has a compression coil spring12d. The compression coil spring12dis inserted through the slide shaft12c, and comes in contact with the slide portion12b. For this reason, the slide movement portion12is elastically biased toward the outside of the main body portion10in the extending direction of the slide shaft12c, which is the radial direction, by the compression coil spring12d. That is, the sensor support portion11supported by the slide movement portion12is elastically biased in the protruding direction, which is the radial direction, on the outside of the main body portion10. In addition, the slide movement portion12is provided with the slide portions12bon both ends of the support member12a. Each slide portion12bis slidably movable along the slide shaft12c, and is elastically biased toward the outside of the main body portion10by the compression coil spring12d. For this reason, in the slide movement portion12, one end side and the other end side in the axial direction are elastically biased to be slidably movable. That is, in the sensor support portion11, one end side and the other end side in the axial direction are elastically biased to be slidably movable. In addition, a dimension H1between the outer faces of the sensor support portions11elastically biased toward the outside of the main body portion10is larger than the inner diameter of the pipe to be inserted.

In addition, as illustrated inFIGS. 7 and 8, the subject insertion body1has a tilt movement portion13. The tilt movement portion13has a bearing member13aerected along both sides of the sensor support portion11in the support member12a, and a rotation shaft13bextending in the radial direction with respect to the bearing member13aand inserted into the substantially center of the extending direction of the sensor support portion11. For this reason, the sensor support portion11is supported to be tiltable in the front and back direction of the insertion direction with respect to the slide movement portion12. In addition, when the slide movement portion12is not provided, the tilt movement portion13is provided in the main body portion10, and supports the sensor support portion11to be tiltable in the front and back direction of the insertion direction.

In addition, the tilt movement portion13has a tilt biasing portion14. The tilt biasing portion14is configured as a spring plunger and is fixed to the support member12a. The plunger portion comes in contact with the back side of the sensor support portion11, which is supported by the tilt movement portion13, in the insertion direction and elastically biases the sensor support portion11on the outside of the subject insertion body1. That is, the sensor support portion11supported to be tiltable in the front and back direction of the insertion by the tilt movement portion13is elastically biased in the front direction. In addition, when the slide movement portion12is not provided, the tilt biasing portion14is provided in the main body portion10and elastically biases the sensor support portion11in the front direction of the insertion.

In addition, as illustrated inFIG. 8, the subject insertion body1has a circumferential movement portion15. The circumferential movement portion15is formed such that at least radial inner diameter of a hole on the sensor support portion11side through which the rotation shaft13bis inserted is larger than the outer diameter of the rotation shaft13b, in the tilt movement portion13. That is, the sensor support portion11is supported movably in the radial direction with respect to the rotation shaft13bby the circumferential movement portion15, which is a hole with a large diameter. For this reason, the sensor support portion11is allowed to move in the circumferential direction of the center axis S1with respect to the rotation shaft13b, and is supported to be tiltable in the circumferential direction. In addition, when the tilt movement portion13is not provided, the circumferential movement portion15supports the sensor support portion11to be tiltable in the circumferential direction by a configuration of a rail extending in the circumferential direction with respect to the support member12aof the slide movement portion12, and a slider slid with the rail although not illustrated in the figures. In addition, when the slide movement portion12is not provided, the circumferential movement portion15supports the sensor support portion11to be tiltable in the circumferential direction with respect to the tilt movement portion13provided in the main body portion10as described above. In addition, the tilt movement portion13and the slide movement portion12are not provided, the circumferential movement portion15supports the sensor support portion11to be tiltable in the circumferential direction by a configuration of a rail extending in the circumferential direction with respect to the main body portion10, and a slider slid with the rail.

In addition, the sensor support portion11has a sensor extrusion portion16. The sensor extrusion portion16is provided when at least three inspection ultrasonic sensors111are disposed along the center axis S1, and supports an inspection ultrasonic sensor111apositioned on the intermediate side to protrude from the outer face in the radial direction and to be slidable with respect to the sensor support portion11. The sensor extrusion portion16is configured as the compression coil spring elastically biasing the inspection ultrasonic sensor111aon the outside. In addition, in the inspection ultrasonic sensor111a, slide movement is restricted with respect to the sensor support portion11so as not to come out of the outside of the sensor support portion11.

In addition, as illustrated inFIGS. 4 to 6,8, and9, the subject insertion body1has protrusion portions18. The plurality of protrusion portions18is provided to protrude in the radial direction on the side portion of the subject insertion body1and at symmetrical positions about the center axis S1. In the embodiment, two protrusion portions18are provided, and are disposed to protrude in the opposing direction based on the center axis S1. In addition, although not illustrated in the figures, for example, when three protrusion portions18are provided, they are equally disposed in the circumferential direction based on the center axis S1. The protrusion portions18are provided to be slidably movable in the radial direction by a slide support portion18a, with respect to the main body portion10. In addition, the protrusion portions18are elastically biased in the direction protruding in the radial direction, which is the slide direction, by a compression coil spring18b. In addition, as illustrated inFIG. 9, a plurality (two in the embodiment) of compression coil springs18bare provided in the axial direction. For this reason, the protrusion portion18can be tilted and moved back and forth in the axial direction while being elastically biased. In addition, a dimension H2between the outer faces of the protrusion portions18elastically biased toward the outside of the main body portion10is larger than the inner diameter of the pipe to be inserted.

In addition, it is preferable that the protrusion portions18be equally disposed in the circumferential direction based on the center axis S1with the sensor support portion11.

In addition, in the pipe processing device, at least one of outer corners of the subject insertion body1, the insertion end portion2, the sensor support portion11, or the protrusion portion18is arc- or chamfered-processed.

In addition, the fixed portion3is provided through a joint portion4having a shape in which the front and back of the insertion end portion2are reversed, on the back side of the subject insertion body1. The fixed portion3is a pipe-shaped member extending backward, and is formed with a diameter smaller than the outer diameter of the front end of the insertion end portion2formed to be tapered. A connection portion3aof the back end of the fixed portion3is mounted on the movement mechanism6. For this reason, the pipe processing device is moved in the axial direction along the center axis S1, in the radial direction perpendicular to the axial direction, in the rotation direction of rotating around the center axis S1, and in the oblique direction oblique with respect to the center axis S1, by the movement mechanism6.

FIG. 10is a block diagram of a control system of the pipe processing device according to the embodiment, andFIGS. 11 to 16are diagrams illustrating an insertion process of the pipe processing device according to the embodiment.

As illustrated inFIG. 10, in the pipe processing device described above, the axial ultrasonic sensor21and the radial ultrasonic sensor22described above are connected to a control unit5. In addition, in the pipe processing device, the inspection ultrasonic sensors111described above are connected to the control unit5. In addition, in the pipe processing device, the movement mechanism6moving the pipe processing device is connected. As described above, the movement mechanism6is configured as the manipulator with the multi-joint structure, and includes an axial movement portion61moving the pipe processing device in the axial direction, a radial movement portion62moving the pipe processing device in the radial direction, a rotation-direction movement portion63moving the pipe processing device in the rotation direction, and an oblique-direction movement portion64moving the pipe processing device in the oblique direction. The axial movement portion61, the radial movement portion62, the rotation-direction movement portion63, and the oblique-direction movement portion64are connected to the control unit5.

The control unit5is configured by a microcomputer or the like, and controls the axial movement portion61, the radial movement portion62, the rotation-direction movement portion63, and the oblique-direction movement portion64of the movement mechanism6, according to detection results of the axial ultrasonic sensor21and the radial ultrasonic sensor22. In addition, the control unit5inputs the detection result of each inspection ultrasonic sensor111, and stores inspection information of the pipe.

Specifically, an operation of the pipe processing device by the control unit5will be described. Herein, in order to secure safety or reliability of the nuclear paraphernalia100described above, a process of inspecting the welding portion101gthat is the connection portion between the main water nozzle101eand the main water pipe101fin the reactor vessel101will be described. The inside of the pipes (the main water nozzle101eand the main water pipe101f) that are the inspection subject is in a state filled with water, and the movement mechanism6and the pipe processing device mounted on the movement mechanism6are disposed in the water. In addition, the position information of the pipe and the internal structure information of the pipe are stored in advance in the control unit5and the movement mechanism6moves the pipe processing device basically based on the information stored in the control unit5.

First, as illustrated inFIG. 11, the subject insertion body1is disposed at a position for detecting the distance from the outer edge of an opening portion101hof the pipe by the axial ultrasonic sensor21. The axial ultrasonic sensor21detects the distance from the outer edge of the opening portion101hof the pipe, and thus it is possible to recognize the position of the pipe processing device with respect to the outer edge of the opening portion101hof the pipe.

Then, as illustrated inFIG. 12, the subject insertion body1is moved in the radial direction from the position ofFIG. 11to the position where the distance detected by the axial ultrasonic sensor21is larger than the outer edge of the opening portion101hof the pipe. That the distance is larger than the outer edge of the opening portion101hof the pipe means that the opening portion101hof the pipe is detected. That is, the axial ultrasonic sensor21detects the distance larger than the outer edge of the opening portion101hof the pipe, and thus it is possible to recognize the opening portion101hof the pipe. The center axis S1of the subject insertion body1is aligned with the position of the center axis S2of the pipe based on the position information of the pipe stored in advance. Herein, since it is difficult to confirm the accurate position of the center axis S2of the pipe, the center axis S1of the subject insertion body1may not coincide with the center axis S2of the pipe.

Then, as illustrated inFIG. 13, the subject insertion body1is moved in the axial direction from the position ofFIG. 12to the position where the inner face of the pipe is detected by the radial ultrasonic sensor22. The insertion end portion2provided with the radial ultrasonic sensor22has the diameter smaller than the inner diameter of the pipe, and is formed to be tapered. In addition, at the position where the inner face of the pipe is detected by the radial ultrasonic sensor22, the subject insertion body1has not been inserted into the pipe yet. For this reason, the insertion end portion2and the subject insertion body1do not come in contact with the pipe.

Then, as illustrated inFIG. 14, at the position ofFIG. 13, the distances from the inner face of the pipe are detected by the radial ultrasonic sensor22while rotating the subject insertion body1in the rotation direction. The subject insertion body1is moved in the radial direction to the position where the distances are the same. Herein, when the cross section of the pipe is circular, the subject insertion body1is moved in the radial direction to the position where all the distances are the same. In addition, when the cross section of the pipe is elliptical, the subject insertion body1is moved in the radial direction to the position where the distances opposing each other are the same. For this reason, a detection point P1by the radial ultrasonic sensor22on the center axis S1of the subject insertion body1coincides with the center axis S2of the pipe.

Then, as illustrated inFIG. 15, the subject insertion body1is moved in the axial direction by a predetermined distance from the position ofFIG. 14, and then the distances from the inner face of the pipe are detected by the radial ultrasonic sensor22while rotating the subject insertion body1in the rotation direction. The subject insertion body1is moved in the radial direction to the position where the distances are the same. Herein, the predetermined distance means a range in which the subject insertion body1has not been inserted into the pipe yet. For this reason, a detection point P2by the radial ultrasonic sensor22on the center axis S1of the subject insertion body1coincides with the center axis S2of the pipe.

Then, as illustrated inFIG. 16, the subject insertion body1is moved in the oblique direction to the position where the center axis S1coincides with the line connecting two points P1and P2with the same distance from the inner face of the pipe. That is, since the line connecting the points P1and P2detected in advance coincides with the center axis S2of the pipe and the center axis S1of the subject insertion body1is simply oblique with respect to the center axis S2, the center axis S1coincides with the center axis S2by allowing the center axis S1of the subject insertion body1to coincide with the line connecting the points P1and P2. Thereafter, the subject insertion body1is moved in the axial direction to insert the subject insertion body1into the pipe. Accordingly, in the state where the center axis S1coincides with the center axis S2, the subject insertion body1is inserted into the pipe.

As described above, the subject insertion body1is inserted into the pipe, and the pipe is thereby inspected by the inspection ultrasonic sensors111.

The pipe processing device of the embodiment is a pipe processing device in which the subject insertion body1inserted from the opening portion101hof the pipe into the pipe is provided to be movable by the movement mechanism6in the axial direction along the center axis S1of the subject insertion body1, the radial direction perpendicular to the center axis S1, the rotation direction of rotating around the center axis S1, and the oblique direction oblique with respect to the center axis S1. The pipe processing device includes the insertion end portion2that is provided on the front side of the subject insertion body1inserted into the pipe and is formed with the outer diameter smaller than inner diameter of the pipe, the axial ultrasonic sensor21that transmits and receives the sonic waves in the insertion direction with respect to the front end of the insertion end portion2, the radial ultrasonic sensor22that transmits and receives the sonic waves in the direction intersecting the center axis S1on the side portion of the insertion end portion2, and the control unit5that controls the movement mechanism6according to the detection results of the axial ultrasonic sensor21and the radial ultrasonic sensor22.

According to the pipe processing device, the subject insertion body1is disposed at a position of detecting a distance from the outer edge of the opening portion101hof the pipe by the axial ultrasonic sensor21; the subject insertion body1is moved in a radial direction to a position where the distance detected by the axial ultrasonic sensor21is larger than the outer edge of the opening portion101hof the pipe; the subject insertion body1is moved in an axial direction to a position where the inner face of the pipe is detected by the radial ultrasonic sensor22; a distance is detected from the inner face of the pipe by the radial ultrasonic sensor22while the subject insertion body1is rotated in a rotation direction, and the subject insertion body1is moved in a radial direction to a position where the distance is the same; the subject insertion body1is moved in an axial direction by a predetermined distance, a distance is detected from the inner face of the pipe by the radial ultrasonic sensor22while the subject insertion body1is rotated in a rotation direction, and the subject insertion body1is moved in a radial direction to a position where the distance is the same; and the subject insertion body1is moved in an oblique direction to a position where the center axis S1matches a line connecting the two points P1and P2with the same distance from the inner face of the pipe, and the subject insertion body1is moved in an axial direction to insert the subject insertion body1into the pipe. For this reason, the subject insertion body1is inserted into the pipe with the center axis S1matching the center axis S2of the pipe. As a result, it is possible to guide the subject insertion body1for insertion so that the subject insertion body passes through the center of the pipe.

In addition, in the pipe processing device of the embodiment, the insertion end portion2is formed to be tapered toward the front side.

According to the pipe processing device, the subject insertion body1is moved in the axial direction to the position where the inner face of the pipe is detected by the radial ultrasonic sensor22, the distance from the inner face of the pipe is detected by the radial ultrasonic sensor22while the subject insertion body1is rotated in the rotation direction, the subject insertion body1is moved in the radial direction to the position where the distance is the same, the subject insertion body1is moved in the axial direction by the predetermined distance, the distance from the inner face of the pipe is detected by the radial ultrasonic sensor22while the subject insertion body1is rotated in the rotation direction, the subject insertion body1is moved in the radial direction to the position where the distance is the same, and the subject insertion body1is moved in the oblique direction to the position where the center axis S1matches the line connecting the two points P1and P2with the same distance from the inner face of the pipe. In this case, it is possible to prevent the insertion end portion2from coming in contact with the inner face of the pipe. As a result, it is possible to move the subject insertion body1to the more accurate position.

The pipe processing device of the embodiment is provided with the sensor support portion11that is provided on the side portion of the subject insertion body1, in which the plurality of inspection ultrasonic sensors111transmitting and receiving the sonic waves in the direction intersecting the center axis S1is disposed along the center axis S1. The plurality of sensor support portions11is provided at the symmetrical positions based on the center axis S1.

According to the pipe processing device, it is possible to move the inspection ultrasonic sensor111along the inner face of the pipe, and to inspect the pipe with high precision.

In addition, in the pipe processing device of the embodiment, the sensor support portion11is supported to be slidable in the radial direction perpendicular to the center axis S1, and is elastically biased in the protrusion direction.

According to the pipe processing device, since the sensor support portion11comes in contact with the inner face of the pipe, it is possible to move the inspection ultrasonic sensor111with the sensor coming in contact with the inner face of the pipe, and to inspect the pipe with high precision. In addition, since the sensor support portion11is moved in the radial direction along the unevenness of the inner face of the pipe, it is possible to allow the inspection ultrasonic sensor111to follow the shape of the inner face of the pipe, and to inspect the pipe with high precision.

In addition, in the pipe processing device of the embodiment, the sensor support portion11is supported to be tiltable in the front and back direction of the insertion.

According to the pipe processing device, since the sensor support portion11is moved in the front and back direction along the unevenness of the inner face of the pipe, it is possible to allow the inspection ultrasonic sensor111to follow the shape of the inner face of the pipe, and to inspect the pipe with high precision.

In addition, in the pipe processing device of the embodiment, the sensor support portion11supported to be tiltable in the front and back direction is elastically biased in the front direction.

According to the pipe processing device, since the front side of the subject insertion body is tapered such that the sensor support portion11is inclined to the front side when the subject insertion body1is inserted into the pipe, it is possible to smoothly perform the insertion. In the state where the subject insertion body1is inserted into the pipe, since the sensor support portion11is moved in the front and back direction along the unevenness of the inner face of the pipe, it is possible to allow the inspection ultrasonic sensor111to follow the shape of the inner face of the pipe, and to inspect the pipe with high precision. In addition, since the sensor support portion11is elastically biased in the state tilted in the front direction, it is possible to substitute the inspection ultrasonic sensor111as the radial ultrasonic sensor at the time of insertion when the inspection ultrasonic sensor111on the front side of the sensor support portion11is disposed at a distance from the inner face of the pipe.

In addition, in the pipe processing device of the embodiment, the sensor support portion11is supported to be tiltable in the circumferential direction.

According to the pipe processing device, since the sensor support portion11is moved in the circumferential direction along the unevenness of the inner face of the pipe, it is possible to allow the inspection ultrasonic sensor111to follow the shape of the inner face of the pipe, and to inspect the pipe with high precision.

In addition, in the pipe processing device of the embodiment, at least three inspection ultrasonic sensors111are disposed along the center axis S1with respect to the sensor support portion11, and the inspection ultrasonic sensor111apositioned on the intermediate side is supported to be slidable in the protrusion direction from the outer face of the sensor support portion11and is elastically biased in the protrusion direction.

Since a plurality of sonic waves is transmitted and received at different angles due to arranging the plurality of inspection ultrasonic sensors111, precision in detection is improved. When at least three inspection ultrasonic sensors111are disposed, the inspection ultrasonic sensor111aon the intermediate side may be separated from the inner face of the pipe by the unevenness of the inner face of the pipe. From this point, according to the pipe processing device, since the inspection ultrasonic sensor111apositioned on the intermediate side is elastically biased to protrude from the outer face of the sensor support portion11, the inspection ultrasonic sensor111apositioned on the intermediate side is prevented from being separated from the inner face of the pipe by the unevenness of the inner face of the pipe, and hence it is possible to inspect the pipe with high precision.

In addition, in the pipe processing device of the embodiment, the plurality of protrusion portions18provided to protrude on the side portion of the subject insertion body1is provided at the symmetrical positions based on the center axis S1, is supported to be slidable in the radial direction perpendicular to the center axis S1, and is elastically biased in the protrusion direction.

According to the pipe processing device, since the protrusion portion18is moved in the radial direction along the unevenness of the inner face of the pipe while coming in contact with the inner face of the pipe, it is possible to keep the state where the center axis S1matches the center axis S2of the pipe.

In addition, in the pipe processing device of the embodiment, the protrusion portions18are equally disposed in the circumferential direction based on the center axis S1with the sensor support portions11.

According to the pipe processing device, since each protrusion portion18and each sensor support portion11are equally disposed in the circumferential direction in the pipe, it is possible to stably keep the state where the center axis S1coincides with the center axis S2of the pipe.

In addition, in the pipe processing device of the embodiment, at least one outer corner of the subject insertion body1, the insertion end portion2, the sensor support portion11, or the protrusion portion18is arc or chamfered-processed.

According to the pipe processing device, it is possible to smoothly move the device in a case of the insertion into the pipe, the movement in the pipe, and the extraction of the device from the pipe.

In addition, according to the embodiment, there is provided a pipe processing method for moving any one pipe processing device described above by the movement mechanism6to insert the pipe processing device from the opening portion101hof the pipe into the pipe, the method including: disposing the subject insertion body1at a position of detecting a distance from the outer edge of the opening portion101hof the pipe by the axial ultrasonic sensor21; moving the subject insertion body1in a radial direction to a position where the distance detected by the axial ultrasonic sensor21is larger than the outer edge of the opening portion101hof the pipe; moving the subject insertion body1in an axial direction to a position where the inner face of the pipe is detected by the radial ultrasonic sensor22; detecting a distance from the inner face of the pipe by the radial ultrasonic sensor22while rotating the subject insertion body1in a rotation direction, and moving the subject insertion body1in a radial direction to a position where the distance is the same; moving the subject insertion body1in an axial direction by a predetermined distance, detecting a distance from the inner face of the pipe by the radial ultrasonic sensor22while rotating the subject insertion body1in a rotation direction, and moving the subject insertion body1in a radial direction to a position where the distance is the same; and moving the subject insertion body1in an oblique direction to a position where the center axis S1matches a line connecting the two points P1and P2with the same distance from the inner face of the pipe, and moving the subject insertion body1in a rotation direction to insert the subject insertion body1into the pipe.

According to the pipe processing method, the subject insertion body1is inserted into the pipe in the state where the center axis S1is matched with the center axis S2of the pipe. As a result, it is possible to guide the subject insertion body1for insertion so that the subject insertion body1passes through the center of the pipe.

In addition, in the embodiment, as the pipe processing device, the pipe inspecting device provided with the inspection ultrasonic sensor111has been described by way of example. However, when a mechanism that performs a cutting process is provided instead of the inspection ultrasonic sensor111, it is possible to perform the process of the pipe with high precision as the pipe processing device.

REFERENCE SIGNS LIST