JP2019015394A - Pipeline inspection repair device - Google Patents

Abstract

To provide a pipeline inspection repair device which can be inserted into a pipeline and adhered to an inner surface of the pipeline to be moved in an inserted state and inspect an internal state of the pipeline by using a camera part disposed at a front end to repair a damaged portion.SOLUTION: A pipeline inspection repair device includes: a polygonal cylindrical arrangement frame in which upper and lower surfaces and a side surface are open; a driving wheel part which is disposed so as to penetrate through the open side surface of the arrangement frame and be movable from a center to an outer shell or the outer shell to the center and rotates while adhered to an inner surface of a pipeline; a wheel moving part which is disposed connecting the arrangement frame with the driving wheel part and moves the driving wheel part to the outer shell or the center; and a camera part which is engaged with a front surface of the arrangement frame and in which a camera is rotatably disposed to capture images of the front side.SELECTED DRAWING: Figure 1

Description

  The present invention relates to a pipe inspection / repair device, and more specifically, inspects the internal state of the pipe using a camera unit that is inserted into the pipe and moved in close contact with the inner surface of the pipe and arranged at the front end. The present invention relates to a pipe inspection / repair device capable of repairing a damaged part.

In general, various types of piping are routed in various industrial fields. For example, water, oils, and liquefaction in various fields such as water and sewage pipes, city gas pipes, and plant pipes of petrochemical plants. It carries gas or similar types of fluid.
This type of piping may cause gaps due to aging or corrosion over time after being routed, or damage to the piping due to external impact due to construction or the like, which may cause a large accident. However, it is very difficult to repair the damage caused to this type of piping, and when the piping is buried underground, the difficulty of the work is further increased.

  Conventionally, with regard to a repair method for this type of pipe, for example, the following Patent Document 1 discloses a technique for repairing an inner surface d portion of the pipe, but stable forward and backward movement inside the pipe is disclosed. Although it is possible, the present condition is that the technique which can test | inspect accurately the state of the inner surface of piping has not been developed yet.

Korean Published Patent No. 10-2009-79303

  The technical problem to be solved by the present invention is to be in contact with the inner surface of the pipe while being inserted into the pipe and moved, and the internal state of the pipe is inspected using a camera unit provided at the front end, and is damaged. It is to provide a pipe inspection / repair device capable of repairing a damaged portion.

  A pipe inspection / repair device according to the present invention for solving the technical problem described above includes a polygonal tubular disposing frame whose upper and lower surfaces and side surfaces are open, and an open side surface of the disposing frame. A drive wheel portion that is movably arranged from the center to the outer shell or from the outer shell to the center and rotates in a state of being in close contact with the inner surface of the pipe, and the arrangement frame and the drive wheel portion are connected to each other. A wheel moving part that moves the driving wheel part toward the outer contour or toward the center; A camera unit for photographing.

  Further, in the present invention, the arrangement frame has a polygonal panel shape with an open center, and a front bracket arranged in front and a predetermined distance from the front bracket parallel to the front bracket. It is preferable to include a polygonal panel-shaped rear bracket that is disposed and opened at the center, and a plurality of connection frames that connect the apexes of the front bracket and the rear bracket in parallel.

  Furthermore, in the present invention, the drive wheel portion includes a box-shaped arrangement box that forms a predetermined internal space, a front rotating wheel and a rear rotation arranged separately on both front and rear sides of the arrangement box. It is preferable to include a wheel and a wheel rotation unit that is arranged inside the arrangement box and rotates either the front rotation wheel or the rear rotation wheel in the forward direction or the reverse direction.

  Still further, in the present invention, the wheel moving unit is attached to a mounting plate fixed in front of the rear bracket, a linear actuator fixed to the front surface of the mounting plate, and a front end of the linear actuator. A forward / reverse module that moves forward and backward by the linear actuator, and an expansion engagement portion that is radially disposed on the outer surface of the forward / backward movement module and that engages the forward / backward movement module and the drive wheel portion in a freely expandable manner. Are preferably provided.

  In addition, according to the present invention, the camera unit is attached to the front surface of the front bracket, and is disposed with the camera housing having a structure in which the front is opened and the opened front surface of the camera housing being cut off. A transparent window portion having a shape, an inspection camera disposed in an internal space formed by the housing and the transparent window portion so as to be rotatable up and down and left and right and tiltable, and the inspection camera can be freely attached to the front bracket by 360 °. It is preferable that a rotation engagement portion that is rotatably arranged and a counterweight engaged with the rotation engagement portion are provided.

  The pipe inspection / repair device of the present invention has a sealed structure that can be used even in water, can accurately inspect the inner surface of the pipe using a camera unit disposed at the front end, and is provided separately at the rear end. The inner surface of the pipe can be repaired by itself using an accessory or the like, or it can be separately engaged with the pipe repair device to repair the inner surface of the pipe accurately and reliably.

Explanatory drawing which shows the whole structure of the piping inspection repair apparatus which concerns on one Embodiment of this invention. Explanatory drawing which shows the whole structure of the piping inspection repair apparatus which concerns on one Embodiment of this invention. Explanatory drawing which shows the whole structure of the piping inspection repair apparatus which concerns on one Embodiment of this invention. The perspective view which shows the structure of the arrangement | positioning flame | frame which concerns on one Embodiment of this invention. The perspective view which shows the structure of the drive wheel part which concerns on one Embodiment of this invention. The perspective view which shows the structure of the expansion engagement part which concerns on one Embodiment of this invention. The perspective view which shows the structure of the camera part which concerns on one Embodiment of this invention. The perspective view which shows the structure of the camera part which concerns on one Embodiment of this invention. Explanatory drawing which shows the whole structure of the piping inspection repair apparatus which concerns on one Embodiment of this invention.

Hereinafter, specific embodiments of the present invention will be described in detail with reference to the accompanying drawings.
As shown in FIGS. 1 and 2, the pipe inspection / repair device 100 according to the embodiment of the present invention includes an arrangement frame 110, a driving wheel unit 120, a wheel moving unit 130, and a camera unit 140.

  First, as shown in FIG. 4, the arrangement frame 110 is a polygonal cylindrical component whose upper and lower surfaces and side surfaces are open, and the overall outer shape of the pipe inspection / repair device 100 according to the embodiment of the present invention. Providing a space in which other components can be disposed. Specifically, the arrangement frame 110 includes a front bracket 111, a rear bracket 112, and a connection frame 113.

As shown in FIG. 4, the front bracket 111 has a polygonal panel shape with an open center, and is disposed in front. The front bracket 111 is shown in FIG. 4 as having a hexagonal panel shape, but can be deformed into various polygons. The rear bracket 112 has the same polygonal panel shape as the front bracket 111 and is spaced apart from the front bracket 111 by a predetermined distance and is disposed in parallel with the front bracket 111. Of course, the rear bracket 112 also has a polygonal panel shape with an open center.
Next, as shown in FIG. 4, the connecting frame 113 connects the vertices of the front bracket 111 and the rear bracket 112 in parallel, and as a result, connects the front bracket 111 and the rear bracket 112. It is. For this reason, an empty space 114 is formed between the connecting frames 113, and the drive wheel unit 120 is driven while passing through the empty space 114.

  Further, as shown in FIG. 9, a part of the empty space between the connection frames 113 may be arranged so that the robot arm 150 </ b> A can pass instead of the driving wheel unit 120. Of course, the robot arm 150A can be replaced with a tool that can perform other operations such as cleaning, brushing, and drilling operations.

  On the other hand, the rear bracket 112 may be further assembled with an adapter (not shown) in which a separate device accessory can be disposed. Various repair modules such as a drilling machine, a brushing machine, and a water shut gun can be arranged on this adapter.

Next, as shown in FIGS. 1 and 4, the wheel moving unit 130 is arranged by connecting the arrangement frame 110 and the driving wheel unit 120, and moves the driving wheel unit 120 toward the outer wall or It is a component that moves toward the center. That is, in the process of inserting the pipe inspection / repair device 100 according to the embodiment of the present invention, the wheel moving unit 130 moves the drive wheel unit 120 toward the center as much as possible for easy insertion. In the process of moving to a contracted position and being inserted into the pipe, the drive wheel 120 is moved toward the outer wall so that the drive wheel 120 is in close contact with the inner surface of the pipe. .
For this purpose, the wheel moving part 130 includes a disposition plate 131, a linear actuator 132, a forward / reverse advancement module 133, and an expansion engaging part 134, as shown in FIGS. First, the disposition plate 131 has a circular panel shape as a whole, and is disposed in a state of being fixed to the front of the rear bracket 112, and is a reference point for driving the forward / reverse module 133 and the widening engagement portion 134. It becomes.
Further, as shown in FIG. 1, the linear actuator 132 is a component that is fixed to the front surface of the arrangement plate 131 and provides the forward / reverse power of the forward / backward module 133. Of course, the linear actuator 132 can be replaced with other components such as a motor.

  Next, as shown in FIG. 1, the forward / reverse module 133 is a component that is engaged with the front end of the linear actuator 132 and moves forward and backward by the linear actuator 132. Of course, as shown in FIG. 4, a guide shaft 135 for guiding the forward / backward movement direction of the forward / backward moving module 133 is engaged with the back surface of the front bracket 111, and the forward / backward moving module 133 is It is driven forward and backward while sliding on the shaft 134 while being fitted in the shaft 134.

  Next, as shown in FIG. 6, the expansion engagement part 134 has a coupling structure of four-bar links 134 a and 134 b and is radially disposed on the outer surface of the forward / reverse module 133. And the drive wheel portion 120 are engaged in a freely expandable manner. For this reason, the expansion engaging part 134 repeatedly performs an operation of expanding or contracting the coupling structure of the four-bar link by the forward / reverse operation of the forward / reverse module 133. Note that the driving wheel portion 120 engaged therewith is moved inward and outward by such repeated operation of the expansion engaging portion 134.

  Next, as shown in FIGS. 1 and 3, the driving wheel unit 120 passes through the opened side surface of the arrangement frame 110 and is movable from the center toward the outer shell or from the outer shell toward the center. It is a component that rotates in a state where it is disposed and is in close contact with the inner surface of the pipe, and drives the pipe inspection / repair device 100 according to the embodiment of the present invention to move forward and backward in the pipe. For this purpose, in the embodiment of the present invention, the drive wheel unit 120 includes a disposition box 121, front and rear rotating wheels 122 and 123, and a wheel rotating unit 124 as shown in FIGS. Here, as shown in FIG. 5, the arrangement box 121 is a box-shaped component that forms a predetermined sealed internal space. As shown in FIG. 5, a plurality of connection bars 125 connected to the expansion engaging portion 134 are provided in the arrangement box 121.

Further, as shown in FIG. 5, the front and rear rotating wheels 122 and 123 are spaced apart from each other on both the front and rear sides of the placement box 121, and actually contact with the inner surface of the piping to generate the friction force. It is a component which rotates so that the piping inspection repair apparatus 100 which concerns on embodiment of this invention may move on the inner surface of piping.
Next, as shown in FIGS. 1 and 5, the wheel rotating unit 124 is disposed inside the disposition box 121, and either the front rotating wheel 122 or the rear rotating wheel 123 is set in the forward direction. Or it is a component rotated in the reverse direction, and can be realized by a motor or the like.

On the other hand, in the embodiment of the present invention, it is described that the driving wheel portion 120 has a structure including front and rear rotating wheels. However, if necessary, as shown in FIG. 9 instead of the front and rear rotating wheels. The track structure 122A may be disposed. When such a track structure 122A is disposed, there is a merit that the pipe inspection / repair device according to the embodiment of the present invention can be driven even when the situation inside the pipe is poor.
Further, the drive wheel portion can be replaced with a screw module. Thus, when replaced with a screw module, there is a merit that it is easy to use even under the condition of being submerged in water.

Next, as shown in FIG. 1, the camera unit 140 is a component that is attached to the front surface of the arrangement frame 110, and the camera is rotatably arranged to take a picture of the front. The image information obtained by the camera unit 110 can be analyzed to inspect the state of the inner surface of the pipe. To this end, the camera unit 140 according to the embodiment of the present invention specifically includes a camera housing 141, a transparent window 142, an inspection camera 143, and a rotational engagement, as shown in FIGS. A portion 144 and a counterweight 145;
First, as shown in FIGS. 1 and 7, the camera housing 141 is engaged with the front surface of the front bracket 111 and has a structure in which the front is opened. The transparent window 142 has a dome shape and is disposed so as to block the open front surface of the camera housing 141 to form a predetermined sealed space in front of the camera housing 141. The inspection camera 143 is disposed in a sealed space formed by the transparent window 142 and can be driven in water.

Therefore, as shown in FIG. 7, the inspection camera 143 is disposed in an internal space formed by the camera housing 141 and the transparent window 142 so that the inspection camera 143 can be rotated up and down, left and right, and can be tilted. Is a component for photographing.
The inspection camera 143 is disposed on the front bracket 111 by the rotation engaging portion 144 so as to freely rotate 360 °. At this time, as shown in FIG. 8, the rotation engagement portion 144 is further provided with a counterweight 145 so that the viewpoint of the inspection camera 143 can be kept constant even during the rotation process. preferable.

DESCRIPTION OF SYMBOLS 100 Pipe inspection repair apparatus 110 concerning one Embodiment of this invention 110 Arrangement | positioning frame 120 Drive wheel part 130 Wheel moving part 140 Camera part

Claims (5)

A polygonal cylinder-shaped arrangement frame whose upper and lower surfaces and side surfaces are open;
A drive wheel portion that is movably disposed through the open side surface of the arrangement frame from the center toward the outer shell or from the outer shell toward the center, and rotates in close contact with the inner surface of the pipe;
A wheel moving unit arranged to connect the arrangement frame and the driving wheel unit, and move the driving wheel unit toward the outer shell or toward the center;
A pipe inspection / repair device, comprising: a camera unit that is attached to a front surface of the arrangement frame and that has a camera that is rotatably arranged to capture an image of the front. The arrangement frame is
A front bracket that has a polygonal panel shape with an open center and is disposed in front;
A polygonal panel-shaped rear bracket disposed parallel to the front bracket at a predetermined interval from the front bracket, and having a center opened.
The piping inspection repair device according to claim 1, comprising a plurality of connection frames that connect the apexes of the front bracket and the rear bracket in parallel. The drive wheel portion is
A box-shaped arrangement box that forms a predetermined internal space;
A front rotating wheel and a rear rotating wheel disposed separately on both front and rear sides of the arrangement box;
The pipe inspection repair according to claim 2, further comprising: a wheel rotation unit that is arranged inside the arrangement box and rotates either the front rotation wheel or the rear rotation wheel in the forward direction or the reverse direction. apparatus. Wheel moving part
An arrangement plate fixed in front of the rear bracket;
A linear actuator fixed to the front surface of the arrangement plate;
A forward / backward module that is attached to the front end of the linear actuator and moves forward and backward by the linear actuator;
The pipe inspection / repair device according to claim 3, further comprising: a widening engagement portion that is radially disposed on an outer surface of the forward / reverse module and that engages the forward / backward module and the drive wheel portion in a freely expandable manner. The camera unit is
A camera housing having a structure that is engaged with a front surface of the front bracket and has a front open;
A transparent window portion that is disposed so as to block the open front surface of the camera housing and has a dome shape;
An inspection camera disposed in an internal space formed by the housing and the transparent window portion so as to be rotatable up and down and left and right and tiltable;
A rotation engaging portion that arranges the inspection camera on the front bracket so as to freely rotate 360 °;
The piping inspection / repair device according to claim 1, further comprising a counterweight engaged with the rotation engagement portion.

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