JP6000464B2 - 配管内部検査用ロボット - Google Patents
配管内部検査用ロボット Download PDFInfo
- Publication number
- JP6000464B2 JP6000464B2 JP2015534400A JP2015534400A JP6000464B2 JP 6000464 B2 JP6000464 B2 JP 6000464B2 JP 2015534400 A JP2015534400 A JP 2015534400A JP 2015534400 A JP2015534400 A JP 2015534400A JP 6000464 B2 JP6000464 B2 JP 6000464B2
- Authority
- JP
- Japan
- Prior art keywords
- linear actuator
- pipe
- drive motor
- braking
- inspection robot
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J5/00—Manipulators mounted on wheels or on carriages
- B25J5/007—Manipulators mounted on wheels or on carriages mounted on wheels
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J5/00—Manipulators mounted on wheels or on carriages
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/10—Programme-controlled manipulators characterised by positioning means for manipulator elements
- B25J9/12—Programme-controlled manipulators characterised by positioning means for manipulator elements electric
- B25J9/123—Linear actuators
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/10—Programme-controlled manipulators characterised by positioning means for manipulator elements
- B25J9/14—Programme-controlled manipulators characterised by positioning means for manipulator elements fluid
- B25J9/144—Linear actuators
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16L—PIPES; JOINTS OR FITTINGS FOR PIPES; SUPPORTS FOR PIPES, CABLES OR PROTECTIVE TUBING; MEANS FOR THERMAL INSULATION IN GENERAL
- F16L1/00—Laying or reclaiming pipes; Repairing or joining pipes on or under water
- F16L1/024—Laying or reclaiming pipes on land, e.g. above the ground
- F16L1/06—Accessories therefor, e.g. anchors
- F16L1/11—Accessories therefor, e.g. anchors for the detection or protection of pipes in the ground
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16L—PIPES; JOINTS OR FITTINGS FOR PIPES; SUPPORTS FOR PIPES, CABLES OR PROTECTIVE TUBING; MEANS FOR THERMAL INSULATION IN GENERAL
- F16L55/00—Devices or appurtenances for use in, or in connection with, pipes or pipe systems
- F16L55/26—Pigs or moles, i.e. devices movable in a pipe or conduit with or without self-contained propulsion means
- F16L55/28—Constructional aspects
- F16L55/30—Constructional aspects of the propulsion means, e.g. towed by cables
- F16L55/32—Constructional aspects of the propulsion means, e.g. towed by cables being self-contained
- F16L55/34—Constructional aspects of the propulsion means, e.g. towed by cables being self-contained the pig or mole being moved step by step
-
- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16L—PIPES; JOINTS OR FITTINGS FOR PIPES; SUPPORTS FOR PIPES, CABLES OR PROTECTIVE TUBING; MEANS FOR THERMAL INSULATION IN GENERAL
- F16L2101/00—Uses or applications of pigs or moles
- F16L2101/30—Inspecting, measuring or testing
-
- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16L—PIPES; JOINTS OR FITTINGS FOR PIPES; SUPPORTS FOR PIPES, CABLES OR PROTECTIVE TUBING; MEANS FOR THERMAL INSULATION IN GENERAL
- F16L2201/00—Special arrangements for pipe couplings
- F16L2201/30—Detecting leaks
-
- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y10—TECHNICAL SUBJECTS COVERED BY FORMER USPC
- Y10S—TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y10S901/00—Robots
- Y10S901/01—Mobile robot
-
- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y10—TECHNICAL SUBJECTS COVERED BY FORMER USPC
- Y10S—TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y10S901/00—Robots
- Y10S901/30—End effector
- Y10S901/44—End effector inspection
Landscapes
- Engineering & Computer Science (AREA)
- General Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Robotics (AREA)
- Manipulator (AREA)
Description
10…配管
100…リニアアクチュエータ
110…ハウジング部
111…第1ハウジング
112…第2ハウジング
120…駆動モータ
130…スクリューガイド
131…ねじ山
140…歯付きスプリング
141…歯
150…板スプリング
151…歯溝
151a…上部歯溝
151b…下部歯溝
160…ガイドアーム
200…制動ユニット
210…第1制動部
211…第1制動モータ
212…第1回転部材
213…第1摩擦部
214…第1移動案内部
214a…第1水平長孔
214b…第1垂直貫通孔
214c…第1ガイド部材
215…第1ローラー部
220…第2制動部
221…第2制動モータ
222…第2回転部材
223…第2摩擦部
224…第2移動案内部
225…第2ローラー部
Claims (6)
- 配管内で移動する配管内部検査用ロボットであって、
伸縮可能に駆動されるリニアアクチュエータと、
前記リニアアクチュエータの伸張時には、前記リニアアクチュエータの後端部を前記配管の内壁に固定させると共に、前記リニアアクチュエータの先端部の固定を解除させ、前記リニアアクチュエータの収縮時には、前記リニアアクチュエータの後端部の固定を解除させると共に、前記リニアアクチュエータの先端部を前記配管の内壁に固定させる制動ユニットと、
を含み、
前記リニアアクチュエータは、
ハウジング部と、
前記ハウジング部の内部に備わる駆動モータと、
前記駆動モータにより回転し、外周面の上半部にねじ山が形成された円筒形状のスクリューガイドと、
前記スクリューガイドを円筒形状に巻き、前記スクリューガイドが回転時に先端側に引き出されるように先端部が前記ねじ山にねじ結合され、外周面に複数の歯が形成される歯付きスプリングと、
前記複数の歯に噛み合わさる複数の歯溝が形成され、前記歯付きスプリングが先端側に引き出される間、前記複数の歯が前記複数の歯溝にそれぞれ噛み合わさりながら共に引き出されるロール形状に巻かれている板スプリングと、を含む、配管内部検査用ロボット。 - 前記ハウジング部は、第1および第2ハウジングを含み、
前記制動ユニットが前記リニアアクチュエータの先端部に備わる第1制動部および前記リニアアクチュエータの後端部に備わる第2制動部を含む場合、前記第1制動部は前記第1ハウジングに備わり、前記第2制動部は前記第2ハウジングに備わる、請求項1に記載の配管内部検査用ロボット。 - 前記リニアアクチュエータは、
前記ハウジング部に備わり、前記複数の歯が前記複数の歯溝に結合される間、前記板スプリングを前記歯付きスプリング側に密着させるガイドアームをさらに含む、請求項1に記載の配管内部検査用ロボット。 - 前記歯付きスプリングは、
前記駆動モータの正逆回転に応じて、前記駆動モータの正方向回転時には前記スクリューガイドにより先端側に引き出されながらそのピッチ間隔が広がり、前記駆動モータの逆方向回転時には前記スクリューガイドにより後端側に引き込まれながら円筒形状に積層され、
前記板スプリングは、
前記駆動モータの正逆回転に応じて、前記駆動モータの正方向回転時には引き出される前記歯付きスプリングの前記複数の歯に前記複数の歯溝が噛み合って共に引き出されながら円筒形状にその長さが増し、前記駆動モータの逆方向回転時にはその半径方向に積層されながらその長さが減る、請求項1に記載の配管内部検査用ロボット。 - 前記複数の歯溝は、前記板スプリングの上部に形成される複数の上部歯溝と、前記板スプリングの下部に形成される複数の下部歯溝とを含み、
前記複数の下部歯溝と前記複数の上部歯溝とは、ピッチごとに重なって前記複数の歯に共に噛み合わさる、請求項4に記載の配管内部検査用ロボット。 - 前記スクリューガイドは、中空の円筒形状であり、
前記駆動モータは、前記スクリューガイドの内部に位置する、請求項1に記載の配管内部検査用ロボット。
Applications Claiming Priority (3)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
KR10-2013-0103148 | 2013-08-29 | ||
KR20130103148A KR101486895B1 (ko) | 2013-08-29 | 2013-08-29 | 배관 내부검사용 로봇 |
PCT/KR2013/009594 WO2015030296A1 (ko) | 2013-08-29 | 2013-10-25 | 배관 내부검사용 로봇 |
Publications (2)
Publication Number | Publication Date |
---|---|
JP2015530271A JP2015530271A (ja) | 2015-10-15 |
JP6000464B2 true JP6000464B2 (ja) | 2016-09-28 |
Family
ID=52586829
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
JP2015534400A Active JP6000464B2 (ja) | 2013-08-29 | 2013-10-25 | 配管内部検査用ロボット |
Country Status (4)
Country | Link |
---|---|
US (1) | US9982830B2 (ja) |
JP (1) | JP6000464B2 (ja) |
KR (1) | KR101486895B1 (ja) |
WO (1) | WO2015030296A1 (ja) |
Families Citing this family (7)
Publication number | Priority date | Publication date | Assignee | Title |
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CN105945985B (zh) * | 2016-05-28 | 2018-01-19 | 台州风达机器人科技有限公司 | 一种执行末端设有旋转块的机器人 |
US10583905B2 (en) | 2016-12-07 | 2020-03-10 | Abb Power Grids Switzerland Ag | Submersible drone having active ballast system |
CN110131520B (zh) * | 2019-05-22 | 2023-11-21 | 南京管科智能科技有限公司 | 一种适用于非满水管道的机器人主体结构 |
KR20210010200A (ko) | 2019-07-19 | 2021-01-27 | 노재상 | 하수관 점검 로봇 |
US11340132B2 (en) | 2019-09-18 | 2022-05-24 | Saudi Arabian Oil Company | Dual slider mechanism |
KR102294711B1 (ko) | 2020-03-23 | 2021-08-27 | 한국생산기술연구원 | 무인운반 및 리프팅 장치 |
KR102298927B1 (ko) * | 2021-01-12 | 2021-09-08 | 서영중 | 관로 청소장치 |
Family Cites Families (11)
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US4739273A (en) * | 1984-03-02 | 1988-04-19 | Exxon Production Research Company | Apparatus for detecting substantially longitudinal flaws in the end area of a tubular member using magnetic excitation and a scanning sensor |
JPH01267216A (ja) * | 1988-04-15 | 1989-10-25 | Bridgestone Corp | 管内外走行装置 |
US4862808A (en) * | 1988-08-29 | 1989-09-05 | Gas Research Institute | Robotic pipe crawling device |
JPH02135414A (ja) * | 1988-11-17 | 1990-05-24 | Olympus Optical Co Ltd | 管内自走装置 |
US5328180A (en) * | 1993-04-16 | 1994-07-12 | Sandia Corporation | Rigid clamp |
JP3509973B2 (ja) * | 1995-01-11 | 2004-03-22 | 中部電力株式会社 | 作業ロボットの移動装置およびその移動方法 |
JPH09257155A (ja) * | 1996-03-25 | 1997-09-30 | Tokyo Gas Co Ltd | パイプインナークランプ装置 |
KR100839546B1 (ko) * | 2007-05-01 | 2008-06-19 | 한국항공대학교산학협력단 | 관내 자율 주행형 로봇 구동 시스템 |
TWI455458B (zh) * | 2007-09-20 | 2014-10-01 | Thk Co Ltd | 線性致動器 |
US20090307891A1 (en) * | 2008-06-17 | 2009-12-17 | Ge-Hitachi Nuclear Energy Americas Llc | Method and apparatus for remotely inspecting and/or treating welds, pipes, vessels and/or other components used in reactor coolant systems or other process applications |
JP2012200045A (ja) * | 2011-03-18 | 2012-10-18 | Seiko Epson Corp | 電動モーター、ロボット及び制動装置 |
-
2013
- 2013-08-29 KR KR20130103148A patent/KR101486895B1/ko active IP Right Grant
- 2013-10-25 JP JP2015534400A patent/JP6000464B2/ja active Active
- 2013-10-25 US US14/429,602 patent/US9982830B2/en active Active
- 2013-10-25 WO PCT/KR2013/009594 patent/WO2015030296A1/ko active Application Filing
Also Published As
Publication number | Publication date |
---|---|
JP2015530271A (ja) | 2015-10-15 |
WO2015030296A1 (ko) | 2015-03-05 |
US20150233515A1 (en) | 2015-08-20 |
US9982830B2 (en) | 2018-05-29 |
KR101486895B1 (ko) | 2015-01-29 |
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