Flaw detection system

Abstract

This flaw detection system comprises: a flexible probe that is disposed on an inspection surface of an inspection object and that is capable of detecting defects in a surface layer of the inspection object including the inspection surface; a casing that opens to the inspection surface side in a first direction; a plurality of gauges that are accommodated in the casing so as to be capable of being drawn out and inserted in the first direction and that, by the tips thereof on the inspection surface side in the first direction, press the flexible probe against the inspection surface; and a regulation member that is accommodated in the casing and that is disposed on the opposite side from the flexible probe in the first direction with the plurality of gauges therebetween. The regulation member has a regulation surface that follows the shape of the inspection surface, and the regulation surface regulates the positions of the gauges in the first direction such that the tips of the plurality of gauges align with the inspection surface.

Description

Flaw detection system

[0001] The present disclosure relates to a flaw detection system. The present application claims priority based on Japanese Patent Application No. 2025-055425 filed in Japan on March 28, 2025, the content of which is incorporated herein by reference.

[0002] As a non-destructive method for inspecting defects in a metal surface layer (hereinafter referred to as a surface to be inspected), for example, an eddy current flaw detection method is known. In eddy current flaw detection, in order to suppress noise, it is necessary to suppress the lifting of the probe from the surface to be inspected.

[0003] Further, for example, Patent Document 1 discloses a probe of a leakage flux flaw detection apparatus that detects flaws in a surface layer including a surface to be inspected by causing a magnetic sensor to scan the surface to be inspected. This probe includes a magnetic sensor, a flexible substrate which is a flexible sheet-shaped base material to which the magnetic sensor is attached, and a columnar or cylindrical insulator around which the flexible substrate is wound on an outer periphery thereof.

[0004] Japanese Patent No. 7073617

[0005] However, in the apparatus as described in Patent Document 1, when the shape of the surface to be inspected is not constant, such as in a welded portion, there has been a problem that the magnetic sensor serving as a probe lifts to an unacceptable height relative to the surface to be inspected, thereby reducing followability to the surface to be inspected.

[0006] The present disclosure has been made to solve the above problems, and an object thereof is to provide a flaw detection system that can improve followability to a surface to be inspected with a simple configuration.

[0007] To solve the above problems, the flaw detection system according to the present disclosure comprises: a flexible probe positioned on the surface of an object to be inspected and capable of detecting defects in the surface layer of the object to be inspected, including the surface to be inspected; a casing opening toward the surface to be inspected in a first direction; a plurality of gauges housed in the casing so as to be able to be moved in and out in the first direction, and pressing the flexible probe against the surface to be inspected with their tips toward the surface to be inspected in the first direction; and a defining member housed in the casing and positioned opposite the flexible probe in the first direction, sandwiching the plurality of gauges, wherein the defining member has a defining surface that conforms to the shape of the surface to be inspected, and the defining surface defines the position of the gauges in the first direction such that the tips of the plurality of gauges are aligned with the surface to be inspected.

[0008] The flaw detection system according to this disclosure comprises: a casing positioned facing the surface of an object to be inspected in a first direction and opening toward the surface to be inspected in the first direction; a plurality of gauges housed within the casing so as to be retractable in the first direction; a coil module provided at the first end of each gauge toward the surface to be inspected in the first direction and positioned toward the surface to be inspected, capable of detecting defects in the surface layer of the object to be inspected, including the surface to be inspected; and a defining member housed within the casing and positioned toward the opposite side of the surface to be inspected in the first direction, sandwiching the plurality of gauges, wherein the defining member has a defining surface that conforms to the shape of the surface to be inspected, and the defining surface defines the position of the gauges in the first direction such that the first ends of the plurality of gauges are aligned with the surface to be inspected.

[0009] The flaw detection system described herein allows for a simple configuration and improved conformability to the surface being inspected.

[0010] This is a top view of a flaw detection system according to the first embodiment of this disclosure. This is a front view showing an example of an application example of the flaw detection system according to the first embodiment of this disclosure. This is a plan view of a flexible probe according to the first embodiment of this disclosure. This is an enlarged view of a coil module according to the first embodiment of this disclosure. This is a view of a flaw detection device according to the first embodiment of this disclosure as seen from the surface under inspection. This is a cross-sectional view of a flaw detection device according to the first embodiment of this disclosure. This is a cross-sectional view of a flaw detection device showing another example of a specified member according to the first embodiment of this disclosure. This is a cross-sectional view of a flaw detection device showing another example of a specified member according to the first embodiment of this disclosure. This is a front view showing another example of an application example of the flaw detection system according to the first embodiment of this disclosure. This is a front view showing another example of an application example of the flaw detection system according to the first embodiment of this disclosure. This is a cross-sectional view of a flaw detection device according to a first modified example of the first embodiment of this disclosure. This is a cross-sectional view of a flaw detection device according to a second modified example of the first embodiment of this disclosure. This is a cross-sectional view of a gauge according to a second modified example of the first embodiment of this disclosure. This is a view of a flaw detection device according to a third modified example of the first embodiment of this disclosure as seen from the surface under inspection. This is a front view of a flaw detection system according to a fourth modified example of the first embodiment of this disclosure. This is a perspective view of a flaw detection system according to a second embodiment of this disclosure. This is a front view of a flaw detection system according to a second embodiment of the present disclosure. This is an enlarged perspective view of a rotary joint according to a first modified example of the second embodiment of the present disclosure. This is a front view of a flaw detection system according to a second modified example of the second embodiment of the present disclosure. This is a top view of a flaw detection system according to a third embodiment of the present disclosure. This is a front view showing an example of an application example of the flaw detection system according to a third embodiment of the present disclosure. This is a view of the flaw detection device according to a third embodiment of the present disclosure as seen from the surface under inspection. This is a cross-sectional view of the flaw detection device according to a third embodiment of the present disclosure. This is a side view of the flaw detection device according to a third embodiment of the present disclosure. This is a configuration diagram of a probe unit according to a third embodiment of the present disclosure. This is an enlarged view of the first end of the probe unit according to a third embodiment of the present disclosure. This is a cross-sectional view of a flaw detection device showing another example of a specified member according to a first embodiment of the present disclosure. This is a cross-sectional view of a flaw detection device showing another example of a specified member according to a first embodiment of the present disclosure. This is a front view showing another example of an application example of the flaw detection system according to a third embodiment of the present disclosure.This is a front view showing another example of an application example of the flaw detection system according to the third embodiment of this disclosure.

[0011] <First Embodiment> (Flaw Detection System) Hereinafter, a flaw detection system 1 according to the first embodiment of this disclosure will be described with reference to Figures 1 to 11. As shown in Figures 1 and 2, the flaw detection system 1 performs eddy current testing on the surface layer of a metal to inspect for surface defects. Hereinafter, an embodiment will be described using as an example the case in which the object to be inspected 20 is a metal member formed by welding steel plates 22, and the flaw detection system 1 inspects for defects in the welded portion 23. That is, in the following description, it will be assumed that the surface 21 of the object to be inspected 20 includes the welded portion 23. The flaw detection system 1 comprises a flaw detection device 2, a link-type frame 45, and a moving mechanism 6.

[0012] (Flaw detection device) The flaw detection device 2 comprises a flexible probe 30, a belt 35, a circuit section 3, a casing 40, a gauge 4, and a specified member 5.

[0013] (Flexible probe) The flexible probe 30 is placed on the surface 21 of the object to be inspected 20 and scans the surface 21. The flexible probe 30 performs eddy current testing and is capable of detecting defects on the surface of the object to be inspected 20, including the surface 21. As shown in Figure 3, the flexible probe 30 comprises a sheet 31 and a coil module 36.

[0014] (Sheet) The sheet 31 is made of a resin material that can be easily elastically deformed, such as elastomer or polyvinyl chloride. The sheet 31 has a sheet body 32 and a protective sheet 34. The sheet body 32 is formed in a rectangular shape, for example. The sheet body 32 has a plurality of housing portions 33. The housing portions 33 are holes 4b that penetrate the sheet body 32 in the thickness direction. The housing portions 33 are formed in an octagonal shape, for example. However, the shape of the housing portions 33 is not limited to an octagon. The housing portions 33 may be formed in other polygonal shapes such as square or hexagonal shapes, or in a circular shape. The plurality of housing portions 33 are arranged in a regular array. Some of the housing portions 33 house coil modules 36, which will be described later. The protective sheet 34 covers the surface of the sheet body 32 on the side facing the object to be inspected 20. The protective sheet 34 prevents the coil modules 36 from directly contacting the object to be inspected 20.

[0015] (Belt) The belt 35 is provided on two opposing sides of the sheet body 32. The belt 35 is a belt-shaped member extending from the sheet body 32. Like the sheet 31, the belt 35 is made of a resin material that is easily elastically deformable. The belt 35 is held in the casing 40, which will be described later.

[0016] (Coil Module) The coil module 36 is housed in the housing section 33 of the sheet body 32. The coil module 36 is arranged to form a plurality of probe rows. As shown in Figure 4, the coil module 36 has a coil case 37 and a cross coil 38. The coil case 37 is formed in the same shape as the housing section 33 and is fitted into the housing section 33. The cross coil 38 is housed inside the coil case 37. The cross coil 38 has a first coil 38a and a second coil 38b. The first coil 38a is an annular shape centered on the first coil axis A1. The second coil 38b is an annular shape centered on the second coil axis A2 which is perpendicular to the first coil axis A1. One of the first coil 38a and the second coil 38b is used as an excitation coil, and the other is used as a detection coil. The excitation coil generates eddy currents on the surface to be inspected 21. When cracks or thinning occur, disturbances occur in the eddy currents. The detection coil detects these disturbances in the eddy currents, thereby detecting defects such as cracks and thinning. Each coil module 36 is connected to the circuit section 3, which will be described later, via wiring L1, etc.

[0017] (Circuit section) The circuit section 3 is electrically connected to each coil module 36. The circuit section 3 outputs eddy current information (flaw detection information) detected by the coil module 36 to an external computer or the like via wiring L2, etc.

[0018] (Casing) As shown in Figures 5 and 6, the casing 40 houses the gauge 4 and specified member 5, which will be described later. The casing 40 opens to the inspection surface 21 side in the first direction D1.

[0019] The first direction D1 is the direction in which the cylindrical portion 41 constituting the casing 40 extends (the direction in which the cylindrical portion 41 opens). Hereinafter, one direction intersecting the first direction D1 will be referred to as the second direction D2, and one direction intersecting the first direction D1 and the second direction D2 will be referred to as the third direction D3. One side of the first direction D1 will be referred to as the first side of the first direction D1, and the other side of the first direction D1 will be referred to as the second side of the first direction D1. One side of the second direction D2 will be referred to as the first side of the second direction D2, and the other side of the second direction D2 will be referred to as the second side of the second direction D2. One side of the third direction D3 will be referred to as the first side of the third direction D3, and the other side of the third direction D3 will be referred to as the second side of the third direction D3. Hereinafter, embodiments will be described using the case in which the first direction D1, the second direction D2, and the third direction D3 are mutually orthogonal as an example. In this embodiment, the casing 40 opens to the first side in the first direction D1. The flexible probe 30 described above is positioned opposite the casing 40 in the first direction D1. The embodiment will be described below using the case where the flaw detection device 2 is scanned along the surface to be inspected 21 in the second direction D2 as an example. The casing 40 is positioned parallel to the circuit section 3 described above in the second direction D2. The casing 40 is positioned on the first side in the second direction D2 relative to the circuit section 3, and the circuit section 3 is positioned on the second side in the second direction D2 relative to the casing 40.

[0020] The casing 40 is formed in the shape of a rectangular parallelepiped. The casing 40 is also provided integrally with the circuit section 3. The casing 40 has a cylindrical section 41, a lid section 42, and a belt holding section 43. The cylindrical section 41 is formed in the shape of a rectangular cylinder with openings on both sides in the first direction D1. The lid section 42 closes the opening on the second side in the first direction D1 of the cylindrical section 41. The lid section 42 is provided so that the opening on the second side in the first direction D1 of the cylindrical section 41 can be opened and closed by bolts or hinges (not shown). The belt holding section 43 holds the belt 35 connected to the flexible probe 30. With the belt 35 held, the flexible probe 30 is held in a position facing the first direction D1 and the first side opening of the casing 40 in the first direction D1. Two belt holding sections 43 are provided on the outer surface of the cylindrical section 41. The two belt holding sections 43 are arranged to face the third direction D3.

[0021] (Gauge) The gauge 4 is a member that presses the flexible probe 30 against the surface to be inspected 21. The gauge 4 protrudes from the opening of the casing 40 to the first side in the first direction D1. The gauge 4 is housed in the casing 40 so as to be able to move in and out in the first direction D1. The gauge 4 is formed in the shape of a plate that extends in the first direction D1 and the second direction D2. In this embodiment, the thickness direction of the gauge 4 coincides with the third direction D3. Multiple gauges 4 are housed in the casing 40 in a row in the third direction D3. In this embodiment, the multiple gauges 4 are arranged to overlap in the thickness direction of the gauges 4. In this embodiment, the multiple gauges 4 are housed in the casing 40 without any gaps. The multiple gauges 4 are slidable. That is, the multiple gauges 4 are slidable against the inner surface of the casing 40 in the first direction D1 and are slidable relative to each other in the first direction D1. Hereinafter, of the ends of the gauge 4 in the first direction D1, the end on the side of the surface to be inspected 21 in the first direction D1 (the first side of the first direction D1) will be referred to as the tip 4a of the gauge 4. The tip 4a of the gauge 4 is formed in an inverted arc shape that protrudes toward the first side of the first direction D1 when viewed from the second direction D2. The gauge 4 presses the flexible probe 30 against the surface to be inspected 21 with this tip 4a.

[0022] (Defining Member) The defining member 5 is a member that defines the position of the gauge 4 in the first direction D1. The defining member 5 is housed inside the casing 40. The defining member 5 is positioned on the opposite side of the flexible probe 30, sandwiching the multiple gauges 4 in the first direction D1. The defining member 5 is slidable. That is, the defining member 5 is provided so as to be slidable in the first direction D1 relative to the inner surface of the casing 40. The defining member 5 is formed from a resin material or the like using, for example, a 3D printer. Here, the surface of the defining member 5 on the first side in the first direction D1 (the gauge 4 side in the first direction D1, or the inspected surface 21 side in the first direction D1) is referred to as the "defining surface 5a". The defining surface 5a is formed to conform to the shape of the inspected surface 21 that faces the first direction D1, and is formed to the same shape as the inspected surface 21. The term "the specified surface 5a and the surface to be inspected 21 having the same shape" is not limited to cases where the shape of the specified surface 5a and the shape of the surface to be inspected 21 perfectly match, but also includes cases where, for example, the specified surface 5a is formed in a stepped shape to follow the inclination of the surface to be inspected 21. The specified surface 5a defines the position of the gauges 4 in the first direction D1 so that the tips 4a of the multiple gauges 4 are aligned with the surface to be inspected 21. In other words, the specified surface 5a defines the degree of protrusion of each gauge 4 in the first direction D1 so that the tips 4a of the multiple gauges 4 are aligned with the surface to be inspected 21. Here, for example, Figure 6 is an example where the object to be inspected 20 includes a welded portion 23 of a butt weld on the surface to be inspected 21. In this case, as shown in Figure 6, the specified surface 5a is formed such that the central part in the third direction D3 is recessed toward the second side of the first direction D1 (the side away from the surface to be inspected 21 in the first direction D1) to match the surface to be inspected 21. As a result, the gauge 4 located in the center of the third direction D3 moves to the second side of the first direction D1, and the center of the flexible probe 30 in the third direction D3 rises up to the second side of the first direction D1. In this way, the flexible probe 30 is pressed against the surface to be inspected 21 so as to conform to the shape of the surface to be inspected 21.

[0023] The specified member 5 is replaceable depending on the object to be inspected 20. Other examples of the specified member 5 are shown below. For example, Figure 7 shows an example where the object to be inspected 20 includes a welded portion 23 of overlapping plate welding on the surface to be inspected 21. In this case, as shown in Figure 7, the specified surface 5a is formed so that one side in the third direction D3 protrudes toward the first side of the first direction D1 (the side approaching the surface to be inspected 21 in the first direction D1) in accordance with the surface to be inspected 21. As a result, the gauge 4 located on one side in the third direction D3 moves toward the first side of the first direction D1, and one side of the flexible probe 30 in the third direction D3 is pushed toward the first side of the first direction D1. In this way, the flexible probe 30 is pressed against the surface to be inspected 21 so as to conform to the shape of the surface to be inspected 21. Also, for example, Figure 8 shows another example where the object to be inspected 20 includes a welded portion 23 of overlapping welding on the surface to be inspected 21. In this case as well, as shown in Figure 8, the specified surface 5a is formed so that one side in the third direction D3 protrudes toward the first side in the first direction D1 (the side approaching the surface 21 in the first direction D1) in accordance with the surface 21 to be inspected. As a result, the gauge 4 located on one side in the third direction D3 moves toward the first side in the first direction D1, and one side of the flexible probe 30 in the third direction D3 is pushed toward the first side in the first direction D1. In this way, the flexible probe 30 is pressed against the surface 21 to be inspected so as to conform to the shape of the surface 21 to be inspected. In the example in Figure 8, the gauge 4 is pressed perpendicularly to the surface 21 to be inspected of the welded part 23.

[0024] Furthermore, for example, Figure 9 shows an example where the object to be inspected 20 includes a fillet weld 23 on the surface to be inspected 21. In this case, as shown in Figure 9, the specified surface 5a is formed so that the central part in the third direction D3 protrudes toward the first side of the first direction D1 (the side approaching the surface to be inspected 21 in the first direction D1) in accordance with the surface to be inspected 21. As a result, the gauge 4 located on one side of the third direction D3 moves toward the first side of the first direction D1, and the central part of the flexible probe 30 in the third direction D3 is pushed toward the first side of the first direction D1. In this way, the flexible probe 30 is pressed against the surface to be inspected 21 so as to conform to the shape of the surface to be inspected 21.

[0025] The gauge 4 and the specified member 5 described above are housed inside the casing 40 through an opening on the second side in the first direction D1 of the casing 40, which is created by opening the lid 42 of the casing 40. In this embodiment, the gauge 4 and the specified member 5 are provided inside the casing 40 so as to be movable in the first direction D1 by their own weight. The gauge 4 is prevented from falling completely out of the opening of the casing 40 by a flexible probe 30 held in the casing 40 and a stopper (not shown).

[0026] (Link-type frame) Returning to Figures 1 and 2, the link-type frame 45 is a member that holds the flaw detection device 2. More specifically, the link-type frame 45 holds the casing 40 of the flaw detection device 2. The link-type frame 45 is also adjustable in terms of the position and orientation of the casing 40 relative to the surface to be inspected 21. The link-type frame 45 may also be called a link mechanism. The link-type frame 45 has two frame units 50.

[0027] (Frame Unit) The frame units 50 are provided on both sides of the third direction D3 of the flaw detection device 2. The two frame units 50 have similar configurations. In the following description, one frame unit 50 will be described as representative, and the description of the other frame unit 50 will be omitted. The frame unit 50 includes a first link 51, a first joint 52, a second link 53, a second joint 54, a third link 55, a first link adjustment screw 56, and a second link adjustment screw 57.

[0028] (First Link) The first link 51 is fixed to the casing 40. The first link 51 on the first side in the second direction D2 is fixed directly to the casing 40, and the first link 51 on the second side in the second direction D2 is fixed to the casing 40 via the circuit section 3. The first link 51 is formed of, for example, a metallic material. The first link 51 is provided on both sides of the flaw detection device 2 in the second direction D2. The two first links 51 are arranged opposite each other in the second direction D2. The first link 51 is a member that extends from the flaw detection device 2 in the second direction D2. Each first link 51 is formed in a cylindrical shape that extends in the second direction D2.

[0029] (First Joint) The first joint 52 is provided at the end of the first link 51 opposite to the flaw detection device 2 in the second direction D2. The first joint 52 is rotatably mounted with the first link 51 as its central axis. The first joint 52 is formed of, for example, a metal material.

[0030] (Second Link) The second link 53 is connected to the first link 51 via the first joint 52. The second link 53 is rotatable about the first link axis B1 which passes through the first link 51 and extends in the second direction D2. In this embodiment, the second link 53 is formed in a U-shape that opens toward the flaw detection device 2. The second link 53 is made of, for example, a metal material. The second link 53 has a second link body 53a and a second link connecting part 53b. The second link body 53a is connected to each first link 51 via the first joint 52. The two second link body 53a are arranged facing each other in the second direction D2. The second link body 53a is arranged perpendicular to the corresponding first link 51. The second link body 53a is formed in a cylindrical shape. The second link body 53a is rotatable about the first link axis B1. In this embodiment, the second link body 53a is fixed to the first joint 52. The second link body 53a rotates integrally with the first joint 52 around the first link 51. The second link connecting portion 53b connects a pair of second link body portions 53a facing each other in the second direction D2. The second link connecting portion 53b is fixed to the end of the second link body 53a opposite to the first link 51. The second link connecting portion 53b is formed in a cylindrical shape extending in the second direction D2. The second joint 54 is provided on the second link connecting portion 53b.

[0031] (Second Joint) The second joint 54 is provided on the second link connecting portion 53b. The second joint 54 is rotatably mounted with the second link connecting portion 53b as its central axis. Two second joints 54 are provided separated in the second direction D2. The second joint 54 is formed of, for example, a metal material.

[0032] (Third Link) The third link 55 is connected to the second link connecting portion 53b via the second joint 54. One third link 55 is provided for each second joint 54. The third link 55 is rotatable about the second link axis B2 which passes through the second link connecting portion 53b of the second link 53 and extends in the second direction D2. The third link 55 is fixed to the second joint 54. The third link 55 rotates integrally with the second joint 54 about the second link connecting portion 53b. In this embodiment, the third link 55 is formed in the shape of a flat plate. The third link 55 is also fixed to the moving mechanism 6, which will be described later. The third link 55 is made of, for example, a metal material.

[0033] (First link adjustment screw) The first link adjustment screw 56 is a component that can fix the second link 53 to the first link 51 and release the fixing of the second link 53 to the first link 51. The first link adjustment screw 56 is provided on the first joint 52. When the first link adjustment screw 56 is tightened, the orientation (rotational position) of the second link 53 relative to the first link 51 is fixed. When the tightening of the first link adjustment screw 56 is loosened, the orientation (rotational position) of the second link 53 relative to the first link 51 is released.

[0034] (Second Link Adjustment Screw) The second link adjustment screw 57 is a component that can fix the third link 55 to the second link 53 and release the fixing of the third link 55 to the second link 53. The second link adjustment screw 57 is provided on the second joint 54. When the second link adjustment screw 57 is tightened, the orientation (rotational position) of the third link 55 relative to the second link 53 is fixed. When the tightening of the second link adjustment screw 57 is loosened, the orientation (rotational position) of the third link 55 relative to the second link 53 is released.

[0035] (Moving mechanism) The moving mechanism 6 is a mechanism that can move the link-type frame 45 along the surface to be inspected 21 while preventing the link-type frame 45 from moving away from the object to be inspected 20. The moving mechanism 6 includes a tire unit 60 and an encoder 63.

[0036] (Tire Unit) Two tire units 60 are provided. The two tire units 60 have the same configuration. In the following description, one tire unit 60 will be described as representative, and the description of the other tire unit 60 will be omitted. The tire unit 60 has a base portion 61 and a magnetic tire 62.

[0037] (Base portion) The base portion 61 extends in the second direction D2. The third link 55 is fixed to the base portion 61. The base portion 61 is formed of, for example, a metal material.

[0038] (Magnetic Tires) The magnetic tires 62 are provided at both ends of the base portion 61 in the second direction D2. That is, the magnetic tires 62 are attached to the link-type frame 45 via the base portion 61. The magnetic tires 62 are rotatable while being attracted to the inspection surface 21 by magnetic force. In this embodiment, the link-type frame 45 moves in the second direction D2 as the magnetic tires 62 rotate around an axis extending in the third direction D3. The attractive force of the magnetic tires 62 is set to be greater than or equal to the surface pressure required for flaw detection by the flexible probe 30.

[0039] (Encoder) The encoder 63 is a device that can detect the amount of movement of the magnet tire 62 by detecting the rotation speed and rotation angle of the magnet tire 62. The encoder 63 outputs the detected amount of movement of the magnet tire 62 to an external computer, for example, via wiring L3. The encoder 63 is installed on one of the tire units 60.

[0040] (How to use the flaw detection system) First, the operator selects a standard member 5 that conforms to the shape of the surface to be inspected 21 from among several standard members 5, such as those shown in Figures 6 to 9. Then, the operator opens the lid 42 of the casing 40 and places the gauge 4 and the standard member 5 into the casing 40 in that order. Next, the operator loosens the first link adjustment screw 56 and the second link adjustment screw 57 and adjusts the orientation of the first link 51, the second link 53, and the third link 55 to match the object to be inspected 20. Once the adjustment of the first link 51, the second link 53, and the third link 55 is complete, the first link adjustment screw 56 and the second link adjustment screw 57 are tightened to fix the shape of the link-type frame 45. After that, as shown in Figure 2, for example, the flaw detection system 1 is installed on the object to be inspected 20 and flaw detection of the surface to be inspected 21 is started. Because the shape of the link-type frame 45 is set appropriately, the gauge 4 presses the flexible probe 30 so that it conforms to the surface to be inspected 21. Then, the operator grasps the casing 40 and moves the flaw detection system 1 in the second direction D2, causing the flexible probe 30 to scan the surface to be inspected 21. In this way, defects on the surface, including the surface to be inspected 21, are detected. Alternatively, a motor may be mounted on the tire unit 60, and the magnetic tire 62 may be rotated by the driving force of the motor.

[0041] Note that the example shown in Figure 2 is an example where the object to be inspected 20 includes a butt weld 23 on the surface to be inspected 21. In this case, the worker houses a specified member 5, which has a specified surface 5a in which the central part of the third direction D3 is recessed to the second side of the first direction D1, as shown in Figure 6, inside the casing 40. Then, as shown in Figure 2, for example, the worker adjusts the shape of the link-type frame 45 so that the heights of the two tire units 60 are aligned, while the link-type frame 45 extends horizontally when viewed from the second direction D2.

[0042] Furthermore, the example shown in FIG. 10 is an example in which the inspection target 20 includes a welded portion 23 of lap plate welding on the surface to be inspected 21. In this case, an operator accommodates, in the casing 40, the regulating member 5 having a regulating surface 5a where one side in the third direction D3 protrudes toward the first side in the first direction D1 as shown in FIGS. 7 and 8, for example. Then, as shown in FIG. 10, for example, the operator adjusts the shape of the link-type frame 45 such that the heights of the two tire units 60 are slightly different while the link-type frame 45 extends in the horizontal direction when viewed from the second direction D2.

[0043] Furthermore, the example shown in FIG. 11 is an example in which the inspection target 20 includes a welded portion 23 of fillet welding on the surface to be inspected 21. In this case, an operator accommodates, in the casing 40, the regulating member 5 having a regulating surface 5a where the central portion in the third direction D3 protrudes toward the first side in the first direction D1 as shown in FIG. 9, for example. Then, as shown in FIG. 11, for example, the operator adjusts the shape of the link-type frame 45 such that the link-type frame 45 is V-shaped when viewed from the second direction D2.

[0044] (Functions and Effects) The flaw detection system 1 of the present embodiment achieves the following functions and effects.

[0045] In the present embodiment, the flaw detection system 1 includes a flexible probe 30, a casing 40, a plurality of gauges 4, and a regulating member 5. The flexible probe 30 is disposed on the surface to be inspected 21 of the inspection target 20, and can detect defects in a surface layer of the inspection target 20 including the surface to be inspected 21. The casing 40 is open toward the surface to be inspected 21 in the first direction D1. Each gauge 4 is accommodated in the casing 40 so as to be able to be drawn out and retracted in the first direction D1, and presses the flexible probe 30 against the surface to be inspected 21 with a tip 4a on the side of the surface to be inspected 21 in the first direction D1. The regulating member 5 is accommodated in the casing 40 and disposed on the opposite side to the flexible probe 30 with the plurality of gauges 4 interposed therebetween in the first direction D1. The regulating member 5 has a regulating surface 5a that conforms to the shape of the surface to be inspected 21. The regulating surface 5a regulates the position of each gauge 4 in the first direction D1 such that the tips 4a of the plurality of gauges 4 follow the surface to be inspected 21.

[0046] According to this configuration, the flexible probe 30 can be pressed against the surface to be inspected 21 by the tips 4a of the plurality of gauges 4 so as to conform to the shape of the surface to be inspected 21. Therefore, lifting of the flexible probe 30 can be suppressed with such a simple configuration. Furthermore, since the plurality of gauges 4 have slidability, the flexible probe 30 can be made to continuously conform even to the uneven surface to be inspected 21. Accordingly, the conformability of the flexible probe 30 to the surface to be inspected 21 can be improved, and the sensitivity of the flexible probe 30 to defects can be improved. In addition, since the generation of a lift-off signal caused by lifting of the flexible probe 30 can be suppressed, detection performance can be improved.

[0047] Incidentally, when a detection probe is attached to a mechanism such as a spring, for example, it is necessary to appropriately adjust the elastic force of the spring, as well as the number and arrangement of the springs, which may lead to a complicated structure. However, in the present embodiment, the pressing force of the flexible probe 30 can be adjusted with a simple configuration that merely accommodates the regulating member 5 and the plurality of gauges 4 in the casing 40. Therefore, the configuration of the flaw detection system 1 can be simplified.

[0048] Furthermore, by preparing a plurality of types of regulating members 5 in advance, replacement can be performed with a regulating member 5 having a regulating surface 5a that matches the shape of the surface to be inspected 21. Therefore, the flexible probe 30 can be pressed so as to conform to the shape of the surface to be inspected 21 for a plurality of types of surfaces to be inspected 21 having different shapes.

[0049] In the present embodiment, the gauge 4 is formed in a plate shape extending in the first direction D1. The plurality of gauges 4 are arranged overlapping each other in the plate thickness direction of the gauges 4.

[0050] As a result, compared to the case where the gauge 4 is formed in a rod shape, the strength of the gauge 4 is improved, so that the flexible probe 30 can be stably pressed against the surface to be inspected 21. Furthermore, by installing the flaw detection system 1 such that the direction in which the shape change of the surface to be inspected 21 is large matches the plate thickness direction of the gauge 4, conformability to the surface to be inspected 21 can be maintained.

[0051] In this embodiment, the system further comprises a link-type frame 45 and a moving mechanism 6. The link-type frame 45 holds the casing 40. The link-type frame 45 is provided in a shape-variable manner, allowing adjustment of the position and orientation of the casing 40 relative to the surface to be inspected 21. The moving mechanism 6 allows the link-type frame 45 to move along the surface to be inspected 21 while preventing the link-type frame 45 from moving away from the object to be inspected 20.

[0052] This allows the casing 40 to be held in an appropriate position and orientation according to the shape of the surface to be inspected 21. For example, the gauge 4 can be adjusted to a position nearly perpendicular to the surface to be inspected 21, allowing the flexible probe 30 to be pressed firmly against the surface to be inspected 21. In other words, the conformability of the flexible probe 30 to the surface to be inspected 21 can be ensured. Therefore, the followability of the flexible probe 30 can be improved. Furthermore, by simply deforming the link-type frame 45, a single flaw detection device 2 can be flexibly adapted to the surfaces to be inspected 21 of various inspection targets 20. That is, by simply deforming the link-type frame 45, a single flaw detection device 2 can be flexibly adapted to various welds 23 such as plate welds, fillet welds, and butt welds. Therefore, highly efficient inspection (scanning) becomes possible.

[0053] In this embodiment, the system comprises a first link 51, a second link 53, a third link 55, a first link adjustment screw 56, and a second link adjustment screw 57. The first link 51 is fixed to the casing 40. The second link 53 is connected to the first link 51 and is rotatable about a first link axis B1 that passes through the first link 51 and extends in a second direction D2 intersecting a first direction D1. The third link 55 is connected to the second link 53 and is rotatable about a second link axis B2 that passes through the second link 53 and extends in a second direction D2. The first link adjustment screw 56 is a member that can fix the second link 53 to the first link 51 and release the fixing of the second link 53 to the first link 51. The second link adjustment screw 57 is a member that can fix the third link 55 to the second link 53 and release the fixing of the second link 53 to the first link 51.

[0054] This allows for proper adjustment of the position and orientation of the casing 40 by simply adjusting the orientation (rotational position) of the second link 53 relative to the first link 51 and the orientation (rotational position) of the third link 55 relative to the second link 53, and then scanning the first link adjustment screw 56 and the second link adjustment screw 57 to fix the second link 53 and the third link 55. Furthermore, the link-type frame 45 can be designed with fewer components.

[0055] In this embodiment, the moving mechanism 6 has a magnetic tire 62 attached to a link-type frame 45. The magnetic tire 62 is rotatably mounted while being attracted to the inspection surface 21 by magnetic force.

[0056] This prevents the link-type frame 45 from separating from the inspection target 20 due to the magnetic force of the magnetic tire 62. Therefore, the moving mechanism 6 can move the link-type frame 45 while preventing it from separating from the inspection target 20 using the magnetic tire 62. Furthermore, simply by placing the magnetic tire 62 on the inspection target 20, the magnetic force of the magnetic tire 62 applies surface pressure to the flexible probe 30, causing the flexible probe 30 to be pressed against the inspection surface 21.

[0057] In this embodiment, the moving mechanism 6 has an encoder 63 capable of detecting the amount of movement of the magnetic tire 62.

[0058] With the above configuration, flaw detection information detected by the flexible probe 30 can be simultaneously acquired in conjunction with distance information detected by the encoder 63.

[0059] (First Modification of the First Embodiment) Next, a first modification of the first embodiment will be described with reference to Figure 12. As shown in Figure 12, the flaw detection device 2 may further include elastic parts 7, 7A provided between the gauge 4 and the specified member 5. The elastic part 7 is a member that can be elastically deformed to expand and contract in a first direction D1. Examples of the elastic part 7 include rubber as shown in Figure 12, as well as sponge and the like. This allows the elastic part 7 to absorb changes in the shape of the surface to be inspected 21. Therefore, the flexibility of the gauge 4 in the first direction D1 can be improved, and the ability of the flexible probe 30 to follow the surface to be inspected 21 can be improved.

[0060] (Second Modification of the First Embodiment) Next, a first modification of the first embodiment will be described with reference to Figures 13 and 14. As shown in Figures 13 and 14, the elastic part 7 may be, for example, a spring mechanism 8. Multiple spring mechanisms 8 (three in the illustrated example) are provided on one gauge 4 and are inserted into holes 4b formed on the end face of the gauge 4 on the second side in the first direction D1. The holes 4b penetrate the gauge 4 in the first direction D1. A total of three spring mechanisms 8 are provided at both ends of the gauge 4 in the second direction D2 and in the center of the gauge 4. The three spring mechanisms 8 are arranged at equal intervals. The spring mechanism 8 has a base case 8a, a spring part 8b, and a piston 8c. The base case 8a is formed in the shape of a bottomed cylinder extending in the first direction D1. The spring part 8b is housed in the bottom of the base case 8a. The spring part 8b is expandable and contractible in the first direction D1. The piston 8c is inserted into the opening of the base case 8a. The piston 8c protrudes from the base case 8a to the second side in the first direction D1. The piston 8c is pressed against the specified surface 5a by the spring portion 8b.

[0061] (Third Modification of the First Embodiment) Next, a third modification of the first embodiment will be described with reference to Figure 15. As shown in Figure 15, one gauge 4 is divided in a direction (second direction D2) that intersects the first direction D1 and the plate thickness direction. That is, each gauge 4 has a plurality of divided gauges 4c arranged in the second direction D2. In the illustrated example, each gauge 4 is divided into two. With this configuration, compared to the case where the gauge 4 is not divided, the degree to which the flexible probe 30 is pressed against the surface to be inspected 21 can be finely adjusted at each point on the surface to be inspected 21. Therefore, the ability of the flexible probe 30 to follow the surface to be inspected 21 can be improved. Note that each gauge 4 may be divided into three or more.

[0062] (Fourth Modification of the First Embodiment) Next, a fourth modification of the first embodiment will be described with reference to Figure 16. As shown in Figure 16, the flaw detection system 1 may further include a surface pressure sensor 9 capable of detecting the surface pressure applied to the flexible probe 30. The surface pressure sensor 9 is positioned between the gauge 4 and the flexible probe 30. When installing the flaw detection system 1, first, the surface pressure sensor 9 measures the required pressing force on the flexible probe 30. After ensuring that sufficient surface pressure is applied to the flexible probe 30, it is fixed with the link-type frame 45 and the moving mechanism 6. In the illustrated example, the surface pressure sensor 9 is held in a pressed state against the flexible probe 30 by the suction force of the magnetic tire 62. The surface pressure sensor 9 is provided to output the surface pressure applied to the flexible probe 30 via the circuit unit 3 or directly to an external control computer or the like. The suction force of the magnetic tire 62 is set to be greater than or equal to the surface pressure measured by the surface pressure sensor 9.

[0063] With this configuration, the shape of the link-type frame 45 can be adjusted so that the surface pressure of the flexible probe 30 is at an appropriate value, while checking the surface pressure of the flexible probe 30. This allows the flexible probe 30 to be pressed against the inspection surface 21 with sufficient surface pressure. This suppresses the lifting of the flexible probe 30 and improves its ability to follow the inspection surface 21. Therefore, noise caused by the lifting (lift-off) of the flexible probe 30 can be reduced, and defect detection can be improved.

[0064] <Second Embodiment> (Flaw Detection System) Hereinafter, a flaw detection system 1A according to the second embodiment of this disclosure will be described with reference to Figures 17 to 18. For configurations of the second embodiment that are common with the first embodiment, the same names and reference numerals will be used, and the description will be omitted as appropriate. As shown in Figures 17 and 18, the flaw detection system 1A of this embodiment comprises a flaw detection device 2, a link-type frame 45, and a moving mechanism 6A. In the link-type frame 45 of this embodiment, the second link body portion 53a located on the second side in the second direction D2 is formed in the shape of a crankshaft.

[0065] (Moving Mechanism) The moving mechanism 6A includes a tire unit 60, a rail unit 70, a handle 80, and a handle mounting mechanism 85. The tire unit 60 is fixed to one frame unit 50, and the rail unit 70 is fixed to the other frame unit 50. Here, the case in which the welded portion 23 of a fillet weld is included in the inspection surface 21 is described as an example, but the flaw detection system 1A of this embodiment can also be applied to the inspection of welded portions 23 of overlapping plate welds and butt welds, similar to the first embodiment. In the illustrated example, the edge of a steel plate 22 extending horizontally and the edge of a steel plate 22 extending vertically are welded by fillet welds. The tire unit 60 described above is installed on the steel plate 22 extending horizontally, and the rail unit 70 is installed on the steel plate 22 extending vertically. Here, the angle between the two steel plates 22 is approximately 90 degrees, but it is not limited to this. The angle between the two steel plates 22 may be less than 90 degrees or greater than 90 degrees. By adjusting the shape of the link to match the angle between the two steel plates 22, it is possible to adapt to a variety of angles. Furthermore, in the following description, the portion of the inspection target 20 (the pair of two steel plates 22) on which the tire unit 60 is installed (the horizontal steel plate 22 in this embodiment) will be referred to as the tire installation portion 24, and the portion on which the rail unit 70 is installed (the vertical steel plate 22 in this embodiment) will be referred to as the rail installation portion 25.

[0066] (Rail unit) The rail unit 70 includes a rail 71, a rail mounting portion 72, and a guide mechanism 73.

[0067] (Rail) The rail 71 is provided in the rail installation section 25 of the inspection target 20. The rail 71 extends in a second direction D2 that intersects the first direction D1. The rail 71 is made of a metal material such as aluminum. The rail 71 has a first rail plate 71a and a second rail plate 71b. Both the first rail plate 71a and the second rail plate 71b are plates that extend in the second direction D2. The first rail plate 71a is provided facing the rail installation section 25 and parallel to the surface of the rail installation section 25. In the illustrated example, the first rail plate 71a extends vertically when viewed from the second direction D2. The second rail plate 71b is provided perpendicular to the surface of the rail installation section 25. In the illustrated example, the second rail plate 71b extends horizontally from the upper end of the first rail plate 71a toward the rail installation section 25.

[0068] (Rail mounting section) The rail mounting section 72 is a component that attaches the rail 71 to the rail installation section 25 of the inspection target 20. The rail mounting section 72 has, for example, a magnet inside and is attached to the surface of the rail installation section 25 by the magnetic attraction force. In the illustrated example, two rail mounting sections 72 are provided facing each other in the second direction D2.

[0069] (Guide mechanism) The guide mechanism 73 is attached to the link-type frame 45. The guide mechanism 73 is a mechanism that can move along the rail 71. The guide mechanism 73 has a guide base 74, a first guide tire 75a, and a second guide tire 75b.

[0070] (Guide base) The guide base 74 is fixed to the third link 55 of the link-type frame 45. In the illustrated example, the guide base 74 is fixed to each of the third links 55.

[0071] (First Guide Tires) Two first guide tires 75a are provided at each guide base 74. The two first guide tires 75a sandwich the first rail plate 71a. The first guide tires 75a are movable in a second direction D2 along the first rail plate 71a. The first guide tires 75a are made of, for example, urethane.

[0072] (Second Guide Tire) The second guide tire 75b is provided on each guide base 74. The second guide tire 75b is positioned to contact the lower surface of the second rail plate 71b. The second guide tire 75b is movable in a second direction D2 along the second rail plate 71b. The second guide tire 75b is made of, for example, urethane.

[0073] (Handle) The handle 80 is attached to the casing 40 by a handle mounting mechanism 85, which will be described later. The handle 80 is a member that can be gripped by an operator. The handle 80 is a rod-shaped member that extends from the casing 40. The handle 80 is detachably mounted on the casing 40. The handle 80 is also detachably mounted so that its angle relative to the casing 40 can be adjusted. The handle 80 has a plurality of rod-shaped members 81, an intermediate joint 82, and a tip joint 83.

[0074] (Rod-shaped members) Multiple rod-shaped members 81 are arranged on the same axis extending in the direction of extension of the handle 80 and are connected in the direction of extension of the handle 80. In this embodiment, two rod-shaped members 81 are provided.

[0075] (Intermediate Joint) The intermediate joint 82 is a member that connects adjacent rod-shaped members 81. The intermediate joint 82 is designed to allow the connection and disconnection of two rod-shaped members 81 to be scanned by rotating one rod-shaped member 81 around its central axis (for example, by 90 degrees) relative to the other rod-shaped member 81.

[0076] (Tip Joint) The tip joint 83 is provided at the end of the handle 80 on the casing 40 side. With the tip joint 83 inserted into the handle mounting mechanism 85, which will be described later, the handle 80 can be connected to and disconnected from the casing 40 by rotating the handle 80 around its central axis (for example, by 90 degrees).

[0077] (Handle Mounting Mechanism) The handle mounting mechanism 85 is provided on the lid portion 42 of the casing 40. The handle mounting mechanism 85 is a mechanism for attaching the handle 80 to the casing 40 in a detachable manner. The handle mounting mechanism 85 includes a mounting piece 86, a support piece 87, a support shaft 88, and a locking lever 89.

[0078] (Mounting piece) The mounting piece 86 is provided in a position opposite the lid portion 42 of the casing 40 in the first direction D1. The mounting piece 86 opens on the side opposite to the casing 40. The tip joint 83 of the handle 80 is inserted into the mounting piece 86. With the tip joint 83 inserted into the mounting piece 86, when the handle 80 is rotated by a predetermined angle (for example, 90 degrees) around the central axis of the handle 80, the handle 80 is fixed to the mounting piece 86. Conversely, by rotating the handle 80 by a predetermined angle (for example, 90 degrees) in the opposite direction to when it was fixed, the fixing of the handle 80 to the mounting piece 86 can be released.

[0079] (Support piece) The support piece 87 is provided so as to sandwich the mounting piece 86 in the third direction D3. The support piece 87 protrudes from the lid portion 42 of the casing 40 to the second side in the first direction D1. The support piece 87 is fixed to the casing 40.

[0080] (Support shaft) The support shaft 88 is positioned between the two support pieces 87. The support shaft 88 extends in a third direction D3 and is rotatably supported by the two support pieces 87. The support shaft 88 passes through a mounting piece 86 in a second direction D2. The mounting piece 86 can rotate integrally with the support shaft 88 about the support shaft 88. This allows the operator to grip the handle 80 and rotate it around the support shaft 88. The operator can rotate the handle 80 in a direction parallel to the scanning direction of the flaw detection system 1A. In this way, the operator can adjust the angle of the handle 80 with respect to the casing 40.

[0081] (Locking Lever) The locking lever 89 fixes the rotation of the handle 80 around the support shaft 88. The locking lever 89 is provided on one of the two support pieces 87. After adjusting the angle of the handle 80 relative to the casing 40 to any desired angle, the operator can fix the angle of the handle 80 relative to the casing 40 by rotating the locking lever 89. The operator can also release the lock on the rotation angle of the handle 80 by rotating the locking lever 89 in the opposite direction to when it was fixed.

[0082] (Effects and Effects) The flaw detection system 1A of this embodiment provides the following effects and effects.

[0083] In this embodiment, the moving mechanism 6A includes a rail 71 and a guide mechanism 73. The rail 71 is attached to the object to be inspected 20 and extends in a direction intersecting the first direction D1 (second direction D2). The guide mechanism 73 is attached to a link-type frame 45 and is provided to be movable along the rail 71.

[0084] According to the above configuration, the direction of travel of the link-type frame 45 is determined by the rail 71. Therefore, even when conducting long-distance inspections, for example, deviation of the link-type frame 45 from the initially planned route can be suppressed. Examples of long-distance inspections include inspecting welded joints 23 in oil refinery tanks, plant pressure vessels, etc.

[0085] In this embodiment, the moving mechanism 6A has a handle 80. The handle 80 is a member attached to the casing 40 that can be gripped by an operator.

[0086] With the above configuration, the worker can move the link-type frame 45 simply by gripping the handle 80 and moving it along the rail 71.

[0087] In this embodiment, the handle 80 is a rod-shaped member extending from the casing 40. The handle 80 is also detachably attached to the casing 40 and its angle relative to the casing 40 is adjustable. Furthermore, the handle 80 has a plurality of rod-shaped members 81 and an intermediate joint 82. The rod-shaped members 81 are connected in the extending direction of the handle 80. The intermediate joint 82 connects adjacent rod-shaped members 81.

[0088] With the above configuration, the flaw detection system 1A can be installed on the object to be inspected 20 with the handle 80 removed from the casing 40, and the handle 80 can be attached after the installation of the flaw detection system 1A is complete. In addition, the length of the handle 80 can be adjusted by adjusting the angle relative to the handle 80 and changing the number of connected rod-shaped members 81. This allows the handle 80 to be adjusted to a position that is easy for the worker to grip.

[0089] (First Modification of the Second Embodiment) Next, a first modification of the second embodiment will be described with reference to Figure 19. As shown in Figure 19, the moving mechanism 6A may further have a rotary joint 90. The rotary joint 90 is attached to the end of the handle 80. The rotary joint 90 connects the end of the handle 80 to the mounting piece 86 of the handle mounting mechanism 85. The rotary joint 90 has a first portion 91 and a second portion 92. The first portion 91 is formed in a spherical shape. The first portion 91 is housed within the mounting piece 86. The first portion 91 is rotatably provided within the mounting piece 86. The second portion 92 extends from the first portion 91 toward the handle 80 in the axial direction of the handle 80.

[0090] By attaching a rotating joint 90 to the end of the handle 80, the handle 80 becomes rotatable around the first portion 91 of the rotating joint 90. This allows the handle 80 to tilt freely in three directions: a first direction D1, a second direction D2, and a third direction D3, around the first portion 91. Therefore, the operator can adjust the position of the handle 80 to the most comfortable gripping position, thereby improving work efficiency.

[0091] (Second Modification of the Second Embodiment) Next, a second modification of the second embodiment will be described with reference to Figure 20. As shown in Figure 20, the moving mechanism 6A does not necessarily have to be provided with a handle 80 and a handle mounting mechanism 85. In this case, the operator directly moves the flaw detection device 2 by gripping, for example, the link-type frame 45 or the casing 40.

[0092] <Third Embodiment> (Flaw Detection System) Hereinafter, a flaw detection system 1B according to the third embodiment of this disclosure will be described with reference to Figures 21 to 31. Among the configurations of the third embodiment, configurations common to the above-described embodiments will be appropriately omitted from description by assigning the same names and reference numerals. As shown in Figures 21 and 22, the flaw detection system 1B of this embodiment comprises a flaw detection device 2B, a link-type frame 45, a moving mechanism 6, and a control device 10. The flaw detection device 2B comprises a circuit section 3, a casing 40, an internal casing 130, a probe unit 100, a specified member 5, and an elastic section 7A. The casing 40 is positioned facing the surface to be inspected 21 in the first direction D1. The casing 40 opens to the surface to be inspected 21 in the first direction D1.

[0093] (Internal Casing) As shown in Figures 23 and 24, the internal casing 130 is housed within the casing 40. The internal casing 130 is fixed to the casing 40. The internal casing 130 has an internal casing body 131 and a partition portion 132. The internal casing body 131 is formed in a rectangular cylindrical shape that opens at least on the side of the inspection surface 21 in the first direction D1. In this embodiment, the internal casing body 131 opens on both sides in the first direction D1. The partition portion 132 extends in the first direction D1 and the third direction D3 so as to divide the space of the internal casing body 131 in the second direction D2. In this embodiment, two internal spaces 133 are formed by the internal casing 130 and the partition portion 132. Hereinafter, the inner circumferential surface of the internal casing 130 means the inner circumferential surface of the internal casing body 131 or the partition portion 132 that forms the internal space 133.

[0094] As shown in Figure 25, a slide groove 134 is formed on the inner circumferential surface of the internal casing 130, which is recessed in the second direction D2 and opens in the first direction D1 on the side opposite to the surface to be inspected 21. The end of the slide on the side of the surface to be inspected 21 in the first direction D1 is a contact surface 135 that faces the opposite side of the surface to be inspected 21 in the first direction D1.

[0095] (Probe Unit) The probe unit 100 is housed in the casing 40 so as to be able to move in and out in a first direction D1. In this embodiment, the probe unit 100 is housed in the internal casing 130 so as to be able to move in and out in a first direction D1. The probe unit 100 is housed in each of the two internal spaces 133 of the internal casing 130. The number of probe units 100 housed in one internal space 133 and the number of probe units 100 housed in the other internal space 133 may be the same or different. Multiple probe units 100 are provided arranged in a third direction D3. Furthermore, the multiple probe units 100 housed in one internal space 133 and the multiple probe units 100 housed in the other internal space 133 are arranged in a second direction D2 and are slightly offset in the third direction D3 to complement each other's detectability. This arrangement of probe units 100 ensures the detectability of the inspection range. The probe unit 100 includes a gauge 110, a coil module 36, a connector unit 120 (see Figure 26), and internal wiring L4 (see Figure 26).

[0096] (Gauge) Multiple gauges 110 are housed in the casing 40 so as to be able to be moved in and out in a first direction D1. Multiple gauges 110 are arranged in a row in a third direction D3. The gauges 110 are formed in a plate shape that extends in the first direction D1 and the second direction D2. The gauge 110 has a gauge body 111, a gauge cover portion 112, a stopper 113, a projection portion 114, and a coating portion 115.

[0097] (Gauge body) As shown in Figure 26, the gauge body 111 is formed in the shape of a rectangular plate extending in a first direction D1 and a second direction D2. The longitudinal direction of the gauge body 111 coincides with the first direction D1. A housing space 116 is formed in the middle of the gauge body 111 in the second direction D2. The housing space 116 is formed in the shape of a rectangle extending in the first direction D1 when viewed from the third direction D3. The housing space 116 opens on the side opposite to the surface to be inspected 21 in the first direction D1 (the second side of the first direction D1). The housing space 116 also opens in a direction intersecting the first direction D1. It opens on one side of the third direction D3. In addition, a coil housing hole 117 is formed at the end of the gauge body 111 on the side of the surface to be inspected 21 in the first direction D1. Multiple coil housing holes 117 are provided. The coil housing hole 117 penetrates the gauge body 111 in the first direction D1 and communicates with the housing space 116.

[0098] (Gauge cover) The gauge cover 112 closes the storage space 116 from one side in the third direction D3. The gauge cover 112 is provided so that the storage space 116 can be opened and closed.

[0099] (Stopper) The stopper 113 is provided at the end (second end 110b) of the gauge body 111 on the side of the surface to be inspected 21 in the first direction D1. The stopper 113 is provided at both ends of the gauge body 111 in the second direction D2. The stopper 113 protrudes from the gauge body 111 in the second direction D2. The stopper 113 is provided in a slide groove 134 (see Figure 25) formed in the internal casing 130 so as to be slidable in the first direction D1. The stopper 113 is made so as to be able to contact the contact surface 135 of the slide groove 134 in the first direction D1.

[0100] (Protrusion) As shown in Figure 27, the projection 114 is formed at the end (first end 110a) of the gauge 110 on the side of the surface to be inspected 21 in the first direction D1. The projection 114 protrudes from the gauge body 111 on the side of the surface to be inspected 21 in the first direction D1. The tip of the projection 114 on the side of the surface to be inspected 21 in the first direction D1 coincides with the tip 110c of the gauge 110 on the side of the surface to be inspected 21 in the first direction D1. As shown, one projection 114 is formed at each end of the gauge body 111 in the second direction D2. The projection height H1 of the projection 114 is, for example, 60 mm or more and 260 mm or less. Preferably, the projection height H1 of the projection 114 is, for example, 80 mm or more and 240 mm or less. More preferably, the projection height H1 of the projection 114 is, for example, 100 mm or more and 220 mm or less.

[0101] (Coated portion) The coated portion 115 is provided on the first end 110a of the gauge 110. The coated portion 115 is provided on the portion of the first end 110a of the gauge 110 where the projection 114 is not provided, that is, between the projections 114. The thickness T1 of the coated portion 115 in the first direction D1 is smaller than the protrusion height H1 of the projection 114. The coated portion 115 covers the coil housing hole 117 from the inspected surface 21 side in the first direction D1.

[0102] (Coil Module) The coil module 36 is provided at the first end 110a of the gauge 110 on the side of the surface to be inspected 21 in the first direction D1. The coil module 36 can be positioned to face the surface to be inspected 21. The coil module 36 is capable of detecting surface defects of the object to be inspected 20, including the surface to be inspected 21. The coil module 36 is inserted into each of the coil housing holes 117 formed in the first end 110a of the gauge 110 from the side of the surface to be inspected 21 in the first direction D1. The coil module 36 is provided between the projection 114. That is, the projection 114 protrudes from the coil module 36 in the first direction D1 toward the surface to be inspected 21 at a different position from the coil module 36 on the first end 110a of the gauge 110. The coil module 36 is covered by a coating portion 115.

[0103] Multiple coil modules 36 are provided at the first end 110a of the gauge 110. In one gauge 110, the coil modules 36 are mounted adjacent to each other in the second direction D2. In one gauge 110, two coil modules 36 overlap in the second direction D2, but are positioned slightly offset in the third direction D3 to complement the detectability of the flaw detection device 2B. The slight offset of two coil modules 36 adjacent in the second direction D2 in the third direction D3 ensures the detectability of the inspection range of the flaw detection device 2B.

[0104] (Connector Unit) As shown in Figure 26, the connector unit 120 is provided at the end (second end 110b) of the gauge 110 opposite to the coil module 36 in the first direction D1. In this embodiment, it is provided so as to close the opening of the housing space 116 opposite to the surface to be inspected 21 in the first direction D1. The connector unit 120 has a plurality of terminals 121 that can be connected to external wiring L1.

[0105] (Internal Wiring) The internal wiring L4 is located inside the gauge 110. The internal wiring L4 connects the terminal 121 to the coil module 36. In this embodiment, the internal wiring L4 is housed in the housing space 116.

[0106] (Prescribed Member) The prescribed member 5 is housed within the casing 40. In this embodiment, the prescribed member 5 is housed within the internal casing 130. More specifically, one prescribed member 5 is housed in each of two internal spaces 133 partitioned within the internal casing 130. The prescribed member 5 is located on the opposite side of the surface under inspection 21 in the first direction D1 from the probe unit 100. That is, the prescribed member 5 is positioned on the opposite side of the surface under inspection 21 in the first direction D1, sandwiching the plurality of gauges 110. The prescribed member 5 has a prescribed surface 5a that conforms to the shape of the surface under inspection 21. The prescribed surface 5a defines the position of the gauges 110 in the first direction D1 so that the first ends 110a of the plurality of gauges 110 are aligned with the surface under inspection 21. In this embodiment as in the first embodiment, the prescribed member 5 is replaceable to match the object under inspection. Furthermore, in the example shown in Figure 24, the specified member 5 has a mounting portion 5b at the end opposite to the surface to be inspected 21 in the first direction D1. The mounting portion 5b protrudes in the direction from the inner circumferential surface of the internal casing 130 toward the outer circumferential surface (the third direction D3 in the example shown in Figure 24). The mounting portion 5b engages with the end of the internal casing 130 opposite to the surface to be inspected 21 in the first direction D1, like a hook. In this embodiment as well, similar to the first embodiment, the specified member 5 is replaceable depending on the object to be inspected 20. For example, it is replaceable with the specified member 5 shown in Figure 28. The specified surface 5a of the specified member 5 in Figure 28 is formed so that one side in the third direction D3 protrudes toward the first side in the first direction D1 (the side approaching the surface to be inspected 21 in the first direction D1) to match the object to be inspected 20. Furthermore, for example, it is replaceable with the specified member 5 shown in Figure 29. The specified surface 5a of the specified member 5 in Figure 29 is formed so that the central part in the third direction D3 protrudes toward the first side of the first direction D1 (the side approaching the surface 21 to be inspected in the first direction D1) in accordance with the object to be inspected 20.

[0107] (Elastic part) As shown in Figure 24, the elastic part 7A is provided between the gauge 110 and the specified member 5. The elastic part 7A is elastically deformable so as to expand and contract in the first direction D1. The elastic part 7A in this embodiment may be, for example, the spring mechanism 8 of the first embodiment. Multiple spring mechanisms 8 are provided on one gauge 110 (two in the example of Figure 26). The spring mechanisms 8 are provided so as to face the second direction D2 across the housing space 116.

[0108] (Control device) The control device 10 (see Figure 21) analyzes the signal from the coil module 36 and inspects for defects on the surface 21 under inspection. The control device 10 is connected to the circuit unit 3 and the probe unit 100, for example, via wiring L2. The control device 10 is also connected to the encoder 63, for example, via wiring L3.

[0109] (Shape adjustment of the link-type frame) In this embodiment as in the first embodiment, the shape of the link-type frame 45 is adjustable. The example shown in Figure 22 is an example in which the object to be inspected 20 includes a butt-welded weld 23 on the surface to be inspected 21. In this case, the operator houses a specified member 5, which has a specified surface 5a in which the central part of the third direction D3 is recessed to the second side of the first direction D1, as shown in Figure 24, inside the casing 40. Then, for example as shown in Figure 22, the operator adjusts the shape of the link-type frame 45 so that the heights of the two tire units 60 are aligned, while the link-type frame 45 extends horizontally when viewed from the second direction D2.

[0110] The example shown in Figure 30 is an example where the object to be inspected 20 includes a welded portion 23 of a plate weld on the surface to be inspected 21. In this case, the worker houses a specified member 5, which has a specified surface 5a on one side of the third direction D3 that protrudes to the first side of the first direction D1, as shown in Figure 28, inside the casing 40. Then, as shown in Figure 30, for example, the worker adjusts the shape of the link-type frame 45 so that it extends horizontally when viewed from the second direction D2, and so that the heights of the two tire units 60 are slightly different.

[0111] The example shown in Figure 31 is an example where the object to be inspected 20 includes a fillet weld 23 on the surface to be inspected 21. In this case, the worker houses a specified member 5 having a specified surface 5a such that the central part in the third direction D3 protrudes to the first side in the first direction D1, as shown in Figure 29, inside the casing 40. Then, as shown in Figure 31, for example, the worker adjusts the shape of the link-type frame 45 so that it forms a V shape when viewed from the second direction D2.

[0112] (Effects and Effects) The flaw detection system 1 of this embodiment provides the following effects and effects.

[0113] In this embodiment, the flaw detection system 1B comprises a casing 40, a plurality of gauges 110, a coil module 36, and a defining member 5. The casing 40 is positioned facing the inspection surface 21 of the object to be inspected 20 in a first direction D1, and opens towards the inspection surface 21 in the first direction D1. The gauges 110 are housed within the casing 40 so as to be able to move in and out in the first direction D1. The coil module 36 is provided at the first end 110a of the gauge 110 on the inspection surface 21 side in the first direction D1. The coil module 36 is positioned on the inspection surface 21 and is capable of detecting defects in the surface layer of the object to be inspected 20, including the inspection surface 21. The defining member 5 is housed within the casing 40 and is positioned on the opposite side of the inspection surface 21 in the first direction D1, sandwiching the plurality of gauges 110. The defining member 5 has a defining surface 5a that conforms to the shape of the inspection surface 21. The specified surface 5a defines the position of the gauges 110 in the first direction D1 such that the first ends 110a of the multiple gauges 110 are aligned with the surface to be inspected 21.

[0114] With this configuration, the coil module 36 can be pressed against the surface to be inspected 21 by the first ends 110a of the multiple gauges 110 so as to conform to the shape of the surface to be inspected 21. Furthermore, the coil module 36 is directly mounted on the gauges 110. As a result, the orientation of the coil module 36 does not change during scanning by the flaw detection system 1B, preventing uneven contact with the surface to be inspected 21. Thus, with this simple configuration, displacement of the coil module 36 can be suppressed and the conformability of the coil module 36 to the surface to be inspected 21 can be improved. Consequently, the sensitivity of the coil module 36 to defects can be improved.

[0115] In this embodiment, the flaw detection system 1B is provided between the gauge 110 and the specified member 5 and further comprises an elastic portion 7A that is elastically deformable to expand and contract in the first direction D1.

[0116] This allows the elastic portion 7A to absorb changes in the shape of the surface under inspection 21. Therefore, the flexibility of the gauge 110 in the first direction D1 can be improved.

[0117] In this embodiment, the flaw detection system 1B further comprises an internal casing 130 housed within the casing 40 and opening toward the surface to be inspected 21 in a first direction D1. Multiple gauges 110 are housed within the internal casing 130 so as to be able to move in and out in the first direction D1.

[0118] With the above configuration, when changing the shape or size of the gauge 110, it becomes unnecessary to change the outer casing 40, as only the internal casing 130 needs to be changed. Therefore, compatibility is improved.

[0119] In this embodiment, the flaw detection system 1B comprises a probe unit 100 having a gauge 110 and a coil module 36. The probe unit 100 further comprises a terminal 121 and internal wiring L4. The terminal 121 is provided at the second end 110b of the gauge 110, opposite to the coil module 36 in the first direction D1. The internal wiring L4 is provided inside the gauge 110 and connects the terminal 121 and the coil module 36.

[0120] According to the above configuration, the gauge 110, coil module 36, terminal 121, and internal wiring L4 can be integrated into a single probe unit 100. This makes it easy to replace the gauge 110, coil module 36, terminal 121, and internal wiring L4. As a result, maintainability is improved.

[0121] In this embodiment, the gauge 110 includes a gauge body 111 and a gauge cover 112. The gauge body 111 has an opening in a direction intersecting the first direction D1, forming a housing space 116 in which the internal wiring L4 is housed. The gauge cover 112 is capable of opening and closing the housing space 116.

[0122] With the above configuration, the internal wiring L4 can be easily removed by opening the cover 42. Therefore, maintenance of the inside of the probe unit 100 becomes easier.

[0123] In this embodiment, the gauge 110 has a projection 114 at a position different from the coil module 36 at the first end 110a that protrudes toward the surface to be inspected 21 in the first direction D1 than the coil module 36.

[0124] With the above configuration, the projection 114 prevents the coil module 36 from directly contacting the surface to be inspected 21. Therefore, it is possible to prevent the coil module 36 from coming into contact with the surface to be inspected 21 and being damaged.

[0125] In this embodiment, multiple coil modules 36 are provided on the gauge 110.

[0126] With the above configuration, the signal detected from each of the multiple coil modules 36 mounted on a single gauge 110 can be analyzed by analyzing the difference in signals detected from each of the multiple coil modules 36 mounted on a single gauge 110. For example, if only one coil module 36 is provided on the gauge 110, when there is a change in the signal from the coil module 36, it is not possible to determine whether the change in the signal is due to the shape of the surface under inspection 21 or, for example, due to the movement of the gauge 110 caused by the expansion and contraction of the spring mechanism 8. In contrast, in this embodiment, multiple coil modules 36 are provided on each gauge 110. As a result, if similar signal changes are observed in multiple coil modules 36 on a single gauge 110 almost simultaneously, the control device 10 can determine that the change in the signal is due to the movement of the gauge 110 caused by the expansion and contraction of the spring mechanism 8. If, for example, a change in the signal is observed in only one coil module 36 on a single gauge 110, the control device 10 can determine that the change in the signal is due to a change in the shape of the surface under inspection 21.

[0127] In the third embodiment described above, the case in which the internal casing 130 is provided inside the casing 40 was explained, but the invention is not limited to this. The internal casing 130 does not have to be provided inside the casing 40.

[0128] In the third embodiment described above, a case in which two coil modules 36 are provided was explained, but it is not limited to this. Three or more coil modules 36 may be provided. Alternatively, only one coil module 36 may be provided.

[0129] In the third embodiment described above, the case in which two projections 114 are provided separated in the second direction D2 with the coil module 36 in between was explained, but it is not limited to this. Three or more projections 114 may be provided. Alternatively, only one projection 114 may be provided. When only one projection 114 is provided, the projection 114 is formed to surround the coil module 36, for example.

[0130] In the third embodiment described above, the flaw detection system 1B was described as having a moving mechanism 6A equipped with two tire units 60, similar to the first embodiment, but it is not limited to this. The flaw detection system 1B may also have a moving mechanism 6A having tire units 60, rail units 70, handles 80, and handle mounting mechanisms 85, similar to the second embodiment.

[0131] In the third embodiment described above, the case in which the flaw detection system 1B is equipped with a spring mechanism 8 as the elastic part 7A, similar to the second modification of the first embodiment, was described, but it is not limited to this. The flaw detection system 1B may be equipped with rubber, sponge, or the like as the elastic part 7, similar to the first modification of the first embodiment.

[0132] (Other Embodiments) Although embodiments of the present disclosure have been described in detail above with reference to the drawings, the specific configuration is not limited to these embodiments and may include design changes and the like that do not depart from the gist of the present disclosure.

[0133] In the above embodiment, the case in which the flaw detection systems 1, 1A, and 1B are applied to the surface to be inspected 21 including the welded portion 23 has been described, but the embodiment is not limited to this. The flaw detection systems 1, 1A, and 1B may also be applied to the object to be inspected 20 other than the welded portion 23.

[0134] In the above embodiment, the gauges 4, 110 and the defining member 5 are provided within the casing 40 so as to be movable in the first direction D1 by their own weight, but this is not limited to this. For example, the defining member 5 may be packed within the casing 40 to the extent that it can move in the first direction D1 when an external force in the first direction D1 is applied. Alternatively, both the defining member 5 and the gauges 4, 110 may be packed within the casing 40 to the extent that they can move in the first direction D1 when an external force in the first direction D1 is applied.

[0135] <Note> The flaw detection systems 1, 1A, and 1B described in each embodiment can be understood, for example, as follows.

[0136] (1) The first embodiment of the flaw detection system 1, 1A comprises: a flexible probe 30 positioned on the surface 21 of the object to be inspected 20 and capable of detecting defects on the surface of the object to be inspected 20 including the surface 21; a casing 40 opening toward the surface 21 in a first direction D1; a plurality of gauges 4 housed in the casing 40 so as to be able to move in and out in the first direction D1, and pressing the flexible probe 30 against the surface 21 with their tip 4a toward the surface 21 in the first direction D1; and a defining member 5 housed in the casing 40 and positioned opposite the flexible probe 30 in the first direction D1, sandwiching the plurality of gauges 4, wherein the defining member 5 has a defining surface 5a that conforms to the shape of the surface 21, and the defining surface 5a defines the position of the gauges 4 in the first direction D1 such that the tip 4a of the plurality of gauges 4 are along the surface 21.

[0137] With this configuration, the flexible probe 30 can be pressed against the surface to be inspected 21 by the tips 4a of the multiple gauges 4 so as to conform to the shape of the surface to be inspected 21. Therefore, with this simple configuration, it is possible to suppress the lifting of the flexible probe 30 and improve the conformability of the flexible probe 30 to the surface to be inspected 21.

[0138] (2) The second embodiment of the flaw detection system 1, 1A is the flaw detection system 1, 1A of (1), wherein the gauge 4 is formed in the shape of a plate extending in the first direction D1, and a plurality of the gauges 4 may be arranged to overlap in the thickness direction of the gauge 4.

[0139] As a result, the strength of the gauge 4 is improved compared to when the gauge 4 is formed in a rod shape, allowing the flexible probe 30 to be stably pressed against the surface to be inspected 21. Furthermore, by setting up the flaw detection systems 1 and 1A so that the direction of the plate thickness of the gauge 4 coincides with the direction in which the shape of the surface to be inspected 21 changes significantly, the ability to follow the surface to be inspected 21 can be maintained.

[0140] (3) The third embodiment of the flaw detection system 1, 1A is the flaw detection system 1, 1A of (2), wherein the gauge 4 may have a plurality of segmented gauges 4c arranged in a direction intersecting the first direction D1 and the plate thickness direction.

[0141] According to the above configuration, one gauge 4 is divided into multiple divided gauges 4c. This allows for finer adjustment of the degree to which the flexible probe 30 is pressed against the surface 21 being inspected at each point on the surface 21, compared to when the gauge 4 is not divided. Therefore, the conformability of the flexible probe 30 to the surface 21 being inspected can be improved.

[0142] (4) The fourth embodiment of the flaw detection system 1, 1A is any one of the flaw detection systems 1, 1A of (1) to (3), and further comprises elastic parts 7, 7A provided between the gauge 4 and the specified member 5, which are elastically deformable to expand and contract in the first direction D1.

[0143] This allows the elastic parts 7 and 7A to absorb changes in the shape of the surface under inspection 21. Therefore, the flexibility of the gauge 4 in the first direction D1 can be improved.

[0144] (5) A flaw detection system 1, 1A according to a fifth embodiment is any one of the flaw detection systems 1, 1A of (1) to (4), further comprising: a link-type frame 45 that holds the casing 40 and is provided in a shape-variable manner, and which can adjust the position and orientation of the casing 40 with respect to the surface to be inspected 21; and a moving mechanism 6, 6A that can move the link-type frame 45 along the surface to be inspected 21 while suppressing the link-type frame 45 from moving away from the object to be inspected 20.

[0145] This allows the casing 40 to be held in an appropriate position and orientation according to the shape of the surface to be inspected 21. For example, the gauge 4 can be adjusted to a position nearly perpendicular to the surface to be inspected 21, allowing the flexible probe 30 to be pressed firmly against the surface to be inspected 21. Thus, the responsiveness of the flexible probe 30 can be improved.

[0146] (6) A sixth embodiment of the flaw detection system 1, 1A is the flaw detection system 1, 1A of (5), wherein the link-type frame 45 includes: a first link 51 fixed to the casing 40; a second link 53 connected to the first link 51 and rotatable about a first link axis B1 that passes through the first link 51 and extends in a second direction D2 intersecting the first direction D1; a third link 55 connected to the second link 53 and rotatable about a second link axis B2 that passes through the second link 53 and extends in a second direction D2; a first link adjustment screw 56 that can fix the second link 53 to the first link 51 and release the fixing of the second link 53 to the first link 51; and a second link adjustment screw 57 that can fix the third link 55 to the second link 53 and release the fixing of the second link 53 to the first link 51.

[0147] This allows for proper adjustment of the position and orientation of the casing 40 by simply adjusting the orientation (rotational position) of the second link 53 relative to the first link 51 and the orientation (rotational position) of the third link 55 relative to the second link 53, and then scanning the first link adjustment screw 56 and the second link adjustment screw 57 to fix the second link 53 and the third link 55. Furthermore, the link-type frame 45 can be designed with fewer components.

[0148] (7) The seventh aspect of the flaw detection system 1, 1A is the flaw detection system 1, 1A of (5) or (6), which may further include a surface pressure sensor 9 positioned between the gauge 4 and the flexible probe 30 and capable of detecting the surface pressure applied to the flexible probe 30.

[0149] With this configuration, the shape of the link-type frame 45 can be adjusted so that the surface pressure of the flexible probe 30 is at an appropriate value, while checking the surface pressure of the flexible probe 30. This allows the flexible probe 30 to be pressed against the inspection surface 21 with sufficient surface pressure. This suppresses the lifting of the flexible probe 30 and improves the flexibility of the flexible probe 30 to follow the inspection surface 21.

[0150] (8) The eighth aspect of the flaw detection system 1, 1A is any one of the flaw detection systems 1, 1A described in (5) to (7), wherein the moving mechanism 6, 6A is attached to the link-type frame 45 and may have a magnetic tire 62 that is rotatable while being attracted to the surface to be inspected 21 by magnetic force.

[0151] This prevents the link-type frame 45 from separating from the inspection target 20 due to the attractive force of the magnetic tire 62. Therefore, the moving mechanisms 6 and 6A can move the link-type frame 45 while preventing it from separating from the inspection target 20 using the magnetic tire 62.

[0152] (9) The flaw detection system 1, 1A of the ninth embodiment is the flaw detection system 1, 1A of (8), wherein the moving mechanism 6, 6A may have an encoder 63 capable of detecting the amount of movement of the magnet tire 62.

[0153] With the above configuration, flaw detection information detected by the flexible probe 30 can be acquired in conjunction with distance information detected by the encoder 63.

[0154] (10) A tenth aspect of the flaw detection system 1A is any one of the flaw detection systems 1A described in (5) to (9), wherein the moving mechanism 6A may include a rail 71 attached to the object to be inspected 20 and extending in a direction intersecting the first direction D1, a guide mechanism 73 attached to the link-type frame 45 and movable along the rail 71, and a handle 80 attached to the casing 40 and gripped by an operator.

[0155] According to the above configuration, the direction of travel of the link-type frame 45 is determined by the rail 71. Therefore, even when conducting long-distance inspections, for example, deviations of the link-type frame 45 from the initially planned route can be suppressed.

[0156] (11) The eleventh aspect of the flaw detection system 1A is the flaw detection system 1A of (10), wherein the moving mechanism 6A is attached to the casing 40 and has a handle 80 that can be grasped by an operator.

[0157] With the above configuration, the worker can move the link-type frame 45 simply by gripping the handle 80 and moving it along the rail 71.

[0158] (12) A flaw detection system 1A of the twelfth embodiment is the flaw detection system 1A of (11), wherein the handle 80 is a rod-shaped member extending from the casing 40 and is provided so as to be detachable from the casing 40 and so as to be able to adjust its angle with respect to the casing 40, and the handle 80 may have a plurality of rod-shaped members 81 connected in the extending direction of the handle 80 and an intermediate joint 82 connecting adjacent rod-shaped members 81.

[0159] With the above configuration, the flaw detection system 1A can be installed on the object to be inspected 20 with the handle 80 removed from the casing 40, and the handle 80 can be attached after the installation of the flaw detection system 1A is complete. In addition, the length of the handle 80 can be adjusted by adjusting the angle relative to the handle 80 and changing the number of connected rod-shaped members 81. This allows the handle 80 to be adjusted to a position that is easy for the worker to grip.

[0160] (13) The flaw detection system 1B of the 13th embodiment comprises a casing 40 positioned opposite the surface 21 of the object to be inspected 20 in a first direction D1 and opening toward the surface 21 in the first direction D1, a plurality of gauges 110 housed in the casing 40 so as to be removable in the first direction D1, and a first end 110a of the gauge 110 toward the surface 21 in the first direction D1 and positioned toward the surface 21, and the object to be inspected 20 including the surface 21 The device comprises a coil module 36 capable of detecting surface defects, and a defining member 5 housed within the casing 40 and positioned on the opposite side of the surface to be inspected 21, sandwiching a plurality of gauges 110 in the first direction D1. The defining member 5 has a defining surface 5a that conforms to the shape of the surface to be inspected 21, and the defining surface 5a defines the position of the gauges 110 in the first direction D1 such that the first ends 110a of the plurality of gauges 110 are aligned with the surface to be inspected 21.

[0161] With this configuration, the coil module 36 can be pressed against the surface to be inspected 21 by the first ends 110a of the multiple gauges 110 so as to conform to the shape of the surface to be inspected 21. Furthermore, the coil module 36 is directly attached to the gauges 110. As a result, the orientation of the coil module 36 does not change during scanning by the flaw detection system 1B, preventing uneven contact with the surface to be inspected 21. Thus, with this simple configuration, displacement of the coil module 36 can be suppressed and the ability of the coil module 36 to follow the surface to be inspected 21 can be improved.

[0162] (14) The fourteenth aspect of the flaw detection system 1B is the flaw detection system 1B of (13), which further comprises elastic parts 7, 7A provided between the gauge 110 and the specified member 5, and which are elastically deformable to expand and contract in the first direction D1.

[0163] This allows the elastic parts 7 and 7A to absorb changes in the shape of the surface to be inspected 21.

[0164] (15) A flaw detection system 1B of the 15th embodiment is a flaw detection system 1B of (13) or (14) further comprising an internal casing 130 housed within the casing 40 and opening toward the surface to be inspected 21 in the first direction D1, wherein a plurality of gauges 110 may be housed within the internal casing 130 so as to be removable in the first direction D1.

[0165] With the above configuration, when changing the shape or size of the gauge 110, it becomes unnecessary to change the outer casing 40, as only the internal casing 130 needs to be changed.

[0166] (16) A flaw detection system 1B according to the sixteenth embodiment is any one of the flaw detection systems 1B from (13) to (15), comprising a probe unit 100 having the gauge 110 and the coil module 36, wherein the probe unit 100 further comprises a terminal 121 provided at a second end 110b of the gauge 110 opposite to the coil module 36 in the first direction D1, and internal wiring L4 provided inside the gauge 110 and connecting the terminal 121 and the coil module 36.

[0167] According to the above configuration, the gauge 110, coil module 36, terminal 121, and internal wiring L4 can be integrated into a single probe unit 100.

[0168] (17) The flaw detection system 1B of the 17th embodiment is the flaw detection system 1B of (16), wherein the gauge 110 may have a gauge body 111 that opens in a direction intersecting the first direction D1 and has a housing space 116 in which the internal wiring L4 is housed, and a gauge lid 112 that can open and close the housing space 116.

[0169] With the above configuration, the internal wiring L4 can be easily removed by opening the lid 42.

[0170] (18) The flaw detection system 1B of the 18th embodiment is any one of the flaw detection systems 1B of (13) to (17), wherein the gauge 110 may have a projection 114 at a position different from the coil module 36 on the first end 110a that protrudes more toward the surface to be inspected 21 in the first direction D1 than the coil module 36.

[0171] According to the above configuration, the projection 114 prevents the coil module 36 from directly contacting the surface to be inspected 21.

[0172] (19) The flaw detection system 1B of the 19th embodiment is any one of the flaw detection systems 1B of (13) to (18), wherein the coil modules 36 may be provided in multiple locations on the gauge 110.

[0173] With the above configuration, the signals detected from the coil modules 36 can be analyzed by analyzing the signal deviations detected from each of the multiple coil modules 36 mounted on a single gauge 110.

[0174] The flaw detection system of this disclosure can be configured simply and improve the ability to follow the surface being inspected.

[0175] 1. Flaw detection system 1A. Flaw detection system 1B. Flaw detection system 2. Flaw detection device 2B. Flaw detection device 3. Circuit section 4. Gauge 4a. Tip 4b. Hole 4c. Divided gauge 5. Standard component 5a. Standard surface 5b. Mounting section 6. Moving mechanism 6A. Moving mechanism 7. Elastic part 7A. Elastic part 8. Spring mechanism 8a. Base case 8b. Spring part 8c. Piston 9. Surface pressure sensor 10. Control device 20. Object to be inspected 21. Surface to be inspected 22. Steel plate 23. Welded part 24. Tire mounting section 25. Rail mounting section 30. Flexible probe 31. Sheet 32. Sheet body 33. Housing section 34. Protective sheet 35. Belt 36. Coil module 37. Coil case 38. Cross coil 38a. First coil 38b. Second coil 40. Casing 41 42 Cylinder part 43 Lid part 45 Belt holding part 45 Link-type frame 50 Frame unit 51 First link 52 First joint 53 Second link 53a Second link body part 53b Second link connecting part 54 Second joint 55 Third link 56 First link adjustment screw 57 Second link adjustment screw 60 Tire unit 61 Base part 62 Magnetic tire 63 Encoder 70 Rail unit 71 Rail 71a First rail plate 71b Second rail plate 72 Rail mounting part 73 Guide mechanism 74 Guide base part 75a First guide tire 75b Second guide tire 80 Handle 81 Rod-shaped member 82 Intermediate joint 83 Tip joint 85 Handle mounting mechanism 86 Mounting piece 87 Support piece 88 Support shaft 89 Lock lever 90 Rotating joint 91 First part 92 Second part 100 Probe unit 110 Gauge 110a First end 110b Second end 111 Gauge body 116 Housing space 117 Coil housing hole 112 Gauge cover 113 Stopper 114 Projection 115 Coating part 120 Connector unit 121 Terminal 130 Internal casing 131 Internal casing body 132 Partition 133 Internal space 134 Slide groove 135 Contact surface A1 First coil axis A2 Second coil axis B1 First link axis B2 Second link axis D1 First direction D2 Second direction D3 Third direction H1 Projection heightL1 Wiring L2 Wiring L3 Wiring L4 Internal wiring T1 Thickness

Claims

1. A flaw detection system comprising: a flexible probe positioned on the surface of an object to be inspected and capable of detecting defects in the surface layer of the object, including the surface to be inspected; a casing opening toward the surface to be inspected in a first direction; a plurality of gauges housed within the casing so as to be retractable in a first direction, and having their tips toward the surface to be inspected in a first direction press the flexible probe against the surface to be inspected; and a defining member housed within the casing and positioned opposite the flexible probe in a first direction, sandwiching the plurality of gauges, wherein the defining member has a defining surface that conforms to the shape of the surface to be inspected, and the defining surface defines the position of the gauges in a first direction such that the tips of the plurality of gauges are aligned with the surface to be inspected.

2. The flaw detection system according to claim 1, wherein the gauge is formed in the shape of a plate extending in the first direction, and a plurality of the gauges are arranged to overlap in the thickness direction of the gauge.

3. The flaw detection system according to claim 2, wherein the gauge has a plurality of segmented gauges arranged in directions intersecting the first direction and the plate thickness direction.

4. The flaw detection system according to any one of claims 1 to 3, further comprising an elastic portion provided between the gauge and the specified member, which is elastically deformable to expand and contract in the first direction.

5. A flaw detection system according to any one of claims 1 to 3, further comprising: a link-type frame that holds the casing and is provided in a shape-variable manner, and which can adjust the position and orientation of the casing with respect to the surface to be inspected; and a moving mechanism that can move the link-type frame along the surface to be inspected while preventing the link-type frame from moving away from the object to be inspected.

6. The flaw detection system according to claim 5, wherein the link-type frame comprises: a first link fixed to the casing; a second link connected to the first link and rotatable about a first link axis extending in a second direction that passes through the first link and intersects the first direction; a third link connected to the second link and rotatable about a second link axis extending in a second direction that passes through the second link; a first link adjustment screw capable of fixing the second link to the first link and releasing the fixing of the second link to the first link; and a second link adjustment screw capable of fixing the third link to the second link and releasing the fixing of the second link to the first link.

7. The flaw detection system according to claim 5, further comprising a surface pressure sensor disposed between the gauge and the flexible probe and capable of detecting the surface pressure applied to the flexible probe.

8. The flaw detection system according to claim 5, wherein the moving mechanism has a magnetic tire attached to the link-type frame and capable of rotating while being attracted to the surface to be inspected by magnetic force.

9. The flaw detection system according to claim 8, wherein the moving mechanism has an encoder capable of detecting the amount of movement of the magnet tire.

10. The flaw detection system according to claim 5, wherein the moving mechanism comprises: a rail attached to the object to be inspected and extending in a direction intersecting the first direction; and a guide mechanism attached to the link-type frame and movable along the rail.

11. The flaw detection system according to claim 10, wherein the moving mechanism is attached to the casing and has a handle that can be grasped by an operator.

12. The flaw detection system according to claim 11, wherein the handle is a rod-shaped member extending from the casing and is provided so as to be detachable from the casing and so as to be able to adjust its angle relative to the casing, and the handle comprises a plurality of rod-shaped members connected in the extending direction of the handle, and intermediate joints connecting adjacent rod-shaped members.

13. A flaw detection system comprising: a casing positioned facing the surface of an object to be inspected in a first direction and opening toward the surface to be inspected in the first direction; a plurality of gauges housed within the casing so as to be retractable in the first direction; a coil module provided at the first end of each gauge toward the surface to be inspected in the first direction and positioned toward the surface to be inspected, capable of detecting defects in the surface of the object to be inspected, including the surface to be inspected; and a defining member housed within the casing and positioned toward the opposite side of the surface to be inspected in the first direction, sandwiching the plurality of gauges, wherein the defining member has a defining surface that conforms to the shape of the surface to be inspected, and the defining surface defines the position of the gauges in the first direction such that the first ends of the plurality of gauges are aligned with the surface to be inspected.

14. The flaw detection system according to claim 13, further comprising an elastic portion provided between the gauge and the specified member, which is elastically deformable to expand and contract in the first direction.

15. The flaw detection system according to claim 13 or 14, further comprising an internal casing housed within the casing and opening toward the surface to be inspected in the first direction, wherein a plurality of gauges are housed within the internal casing so as to be retractable in the first direction.

16. A flaw detection system according to claim 13 or 14, comprising a probe unit having the gauge and the coil module, wherein the probe unit further comprises: a terminal provided at a second end of the gauge opposite to the coil module in the first direction; and internal wiring provided inside the gauge for connecting the terminal and the coil module.

17. The flaw detection system according to claim 16, wherein the gauge comprises a gauge body having an opening in a direction intersecting the first direction and a housing space for housing the internal wiring, and a gauge lid that can open and close the housing space.

18. The flaw detection system according to claim 13 or 14, wherein the gauge has a projection at a position different from the coil module at the first end that protrudes more toward the surface to be inspected in the first direction than the coil module.

19. The flaw detection system according to claim 13 or 14, wherein a plurality of coil modules are provided on the gauge.

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