JPH05139292A - Autonomously moving type piping maintenance robot - Google Patents

Abstract

PURPOSE:To proceed with inspection while coping flexibly with the diameter change of piping by providing expansion mechanisms on a right and a left side arm rows with expanding/contacting motors fitted thereto so as to make the inscribed circle diameter of three rotary rollers variable and to make the shrinkage force of arms into clamping force to the piping. CONSTITUTION:The right side arm row 14 of a center frame 12 is provided with a first arm 21, a second arm 22 through first expansion link mechanism 24, and a third arm 23 through second expansion link mechanism 25. The left side arm row is provided in the same way with first to third arms 31-33 and first and second expansion link mechanisms 34, 35. A first rotary roller 44 is fitted into a roller support 41, and a second and a third roller supports 42, 43 and a second and a third rotary rollers 45, 46 are fitted to the third arms 23, 33. The enlargement, contraction and pipeline clamping of a robot are performed by a right and a left expanding/contracting motors 28, 38 for driving the first and second expansion link mechanisms 24, 25 and 34, 35.

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a robot device for nondestructively diagnosing a piping system from the outside of the pipe, and in particular, the robot body flexibly responds to changes in the outside diameter of the pipe while changing the form of the robot body. The present invention relates to a maintenance robot that passes through a diameter-reduced portion and moves on a pipe.

[0002]

2. Description of the Related Art Currently, the following methods are used to diagnose deterioration of air conditioning pipes and predict replacement timing. (1) X-ray transmission photography (2) Ultrasonic flaw detection and thickness measurement (3) Visual inspection inside the tube with a borescope, etc. (4) Judgment by extracting the sample piece Among these, visual inspection inside the tube and extraction of the sample piece with the borescope This requires draining the water inside the pipes, which is often inconvenient for existing buildings. The X-ray transmission method is not easy to perform because it requires a qualified person for imaging and has a safety problem. Therefore, in most cases, ultrasonic flaw detection is performed. As a method for measuring the thickness by ultrasonic flaw detection, in addition to the basic method of manually contacting the probe with the outer wall of the pipe for measurement, a method of making a measurement jig and making mechanical contact, or a robot There is a method of automatically measuring by using.

In Japanese Patent Laid-Open No. 63-309840, "Swing-moving pipe group automatic inspection device", a set of clamp devices for gripping and releasing pipes perform pipe inspection while walking inside the pipe group. A self-propelled device is disclosed. Japanese Unexamined Patent Publication No. 2-231562 "Piping Nondestructive Diagnostic Device" discloses a device for inspecting a pipe while a diagnostic device including a sensor unit that can rotate in the circumferential direction around the pipe moves along the pipe. ing. All of these devices are effective for a group of pipes where the outside diameter of the pipe is constant, but if the reducer where the outside diameter of the pipe changes is encountered, clamping becomes difficult and the inspection continues. It may not be possible.

[0004]

SUMMARY OF THE INVENTION An object of the present invention is to provide a pipe maintenance robot capable of flexibly responding to changes in pipe diameter and continuing inspection.

[0005]

The above-mentioned object of the present invention is a robot for nondestructively diagnosing from the outside of a pipe while moving the pipe system, the arm extending from the central frame to the left and right in a substantially arc shape. A row, a first rotating roller mounted on a first roller support held on the central frame, a second rotating roller mounted on a second roller support held on the right arm row, and a left arm A third rotating roller attached to a third roller support held in a row and a traveling motor for driving each rotating roller are provided, and each left and right arm row is pivotally supported by a central frame. 1 arm, a second arm connected to the first arm via a first telescopic link mechanism, and a third arm connected to a second arm via a second telescopic link mechanism, the right side A right telescopic motor that drives each telescopic link mechanism of the right arm row is mounted on the arm row, and a left telescopic motor that drives each telescopic link mechanism of the left arm row is mounted on the left arm row. The diameter of the circle inscribed in the three rotating rollers is variable due to the expansion and contraction movement of the expansion and contraction link mechanism, so that the contraction force of the arm by the expansion and contraction link mechanism becomes the tightening force for the pipe. This is achieved by an autonomous mobile piping maintenance robot characterized by the above.

According to the present invention, the diameter of the circle enclosed by the three rotating rollers is variable due to the expansion and contraction movement of the expansion and contraction link mechanism provided between the arm rows. Even when inspecting a plurality of different pipes, one maintenance robot can cover a wide range. Further, even if the outer diameter of the pipe to be inspected changes on the way, the movement of the expandable link mechanism can follow this and continue the inspection. As a preferred embodiment, if a strain gauge is arranged adjacent to the rotating roller and a reaction force against the tightening force of the rotating roller can be detected, it is possible to self-determine that the diameter difference part of the pipe is approaching. The device enables the expansion and contraction link mechanism to be operated to change the form in response to the change in piping.

Various small motors can be used as the traveling motor, but those having a holding torque when the rotation is stopped are preferable. Although a stopper mechanism can be provided, for example, since the ultrasonic motor holds torque without separately providing a stopper mechanism or the like, it can be suitably used for this purpose. The "ultrasonic motor" is a ring-shaped piezoelectric element divided into several parts, attached to a metallic vibrating body so that voltages can be applied separately, and a rotor is brought into contact with the vibrating body. For the “ultrasonic motor”, for example, 1
A detailed explanation is given in "The Best Selection of Advanced Technology Terms" published by Ohmsha in 990.

Further, the maintenance robot of the present invention is
It is also possible to connect the robot modules in three units and provide an articulated bending mechanism between the modules so that the three arm columns bend and run on the pipe. With such a three-arm joint bending type maintenance robot, it is possible to more reliably detect a different diameter portion or a crossing portion of the pipe and to walk while changing the form. Less than,
The present invention will be described in more detail with reference to the embodiments of the accompanying drawings.

[0009]

1 and 2 show a state in which a maintenance robot according to the present invention grips the outer periphery of a small diameter pipe P0. The robot 10 extends from a central frame 12 to the right side in a substantially arc shape. The arm array 14 and the arm array 16 extending leftward from the central frame 12 in a substantially arc shape are provided. The arm column 14 on the right side includes the central frame 12
A first arm 21 pivotally supported by the first arm 21 and a first arm 21
Second arm 2 connected through the expansion link mechanism 24 of
2 and a third arm 23 connected to the second arm 22 via a second telescopic link mechanism 25. The expansion link mechanisms 24 and 25 are so-called lazy tongs (LAZ).
Y TONGS).

The left arm row 16 is a central frame 12
The first arm 31 pivotally supported by the first arm 31 and the first arm 31
Second arm 3 connected via the expansion link mechanism 34 of
2 and a third arm 33 connected to the second arm 32 via a second telescopic link mechanism 35. A first roller support 41 is fixed immediately below the center frame 12, and a first rotating roller 44 is mounted in the roller support 41 and driven by an ultrasonic motor 47.

A second roller support 42 is fixed to the third arm 23 at the tip of the right arm row, and a second rotating roller 45 is mounted in the roller support 42.
It is adapted to be driven by the ultrasonic motor 48. A third roller support 43 is fixed to the third arm 33 at the tip of the left arm row, and a third rotating roller 46 is mounted in the roller support 43 and an ultrasonic motor 49 is installed.
It is designed to be driven by.

Since the rotating rollers 44, 45, 46 are in contact with the outer wall of the pipe P0 as shown in the figure, when the rotary rollers 44, 45, 46 are driven by the drive motors 47, 48, 49 to rotate, the robot 10 moves to the outer wall of the pipe P0. You can move back and forth along it. Further, the roller supports 41, 42, 43 can be rotated by 90 ° so that the entire robot can rotate in the circumferential direction.

A right extension motor 28 for driving the first and second extension link mechanisms 24 and 25 of the right arm row is mounted on the right arm row 14, and the left arm row 16 also includes the right extension motor 28. The first and second telescopic link mechanisms 34,
A left extension motor 38 for driving 35 is attached. These motors 28 and 38 are also ultrasonic motors.

That is, in the present invention, these ultrasonic motors generate the propulsive force and steering force of the robot body by the rotation of the roller, the expansion and contraction of the expansion and contraction link mechanism portion, that is, the expansion and contraction force of the robot, and the pipe tightening force. .. Further, the right arm row 14 and the left arm row 1 are formed in a gull wing shape around the pivots 18 and 19 of the central frame 12.
6 is moved in the direction of splashing to make it easy to attach to the pipe.

The controller for controlling each motor, the central processing unit CPU, the peripheral equipment, and the power source can be supplied from the outside through wiring, and any or all of the above are built in the central frame 12. It is also possible.

Strain gauges 51, 52 and 53 are attached to the roller supports 41, 42 and 43, respectively. These strain gauges measure the reaction force between the robot and the pipe to detect the pipe tightening force, that is, the gripping force. Based on this detected value, the CPU performs feedback control to an appropriate tightening force. For example, when there is a portion where the pipe diameter changes in the traveling direction of the robot, the reaction force to the driving force in the forward direction can be detected by the strain gauge to detect the portion where the pipe diameter changes.
Alternatively, an ultrasonic distance sensor is used to detect obstacles (flange, elbow, reducer) in the traveling direction.

FIG. 3 shows a state in which the maintenance robot shown in FIG. 1 has changed its form so as to extend the telescopic link mechanisms 24, 25, 34 and 35 to grip the large diameter pipe P1. ..

Since the maintenance robot according to the present invention is configured as described above, the diameter of the circle inscribed in the three rotating rollers can be varied by the expansion and contraction movement of the expansion and contraction link mechanism, and can follow changes in the pipe diameter. As a result, the unique advantage of being able to inspect a wide variety of piping groups that conventional robots could not travel is obtained.

FIGS. 4 and 5 are views for explaining the operation of the telescopic link mechanism by taking the telescopic link mechanism 25 interposed between the second arm 22 and the third arm 23 of the right arm column as an example. .. The rotation of the ultrasonic motor 28 is controlled by the spur gear mechanism 5
5, through the worm gear mechanism 56 and the rack and pinion mechanism 57, it is converted into the longitudinal movement of the input shaft 58. Input shaft 58
Is connected to the second pin 61 of the telescopic link mechanism, and the first pin 60 located on the reference line G is the second pin 61.
It is connected to the arm 22. The fourth pin 63 is connected to the third arm 23.

In FIG. 5, when the input shaft 58 is pushed down by the dimension L1 in the downward direction of the figure, the descending amount is expanded by the action of the link mechanism, the pin 63 is pushed down by the dimension L2, and the third arm 23 is moved to the second position. The size L2 is pushed down with respect to the arm 22. Thus, even if the stroke (displacement amount) of the input shaft 58 is very small, the telescopic link mechanism can be expanded and contracted by the expanded amount, so that it is possible to grip a large pipe outer diameter. On the contrary, when the telescopic link mechanism is contracted, the force in the contraction direction serves as a force to tighten the outer diameter of the pipe, and the robot can move on the pipe in a stable posture.

This expandable link mechanism can change the enlargement ratio by changing the number of plates and the plate length that form each link. When a three-stage link mechanism is used as shown in FIG. 4, a magnifying power of about 3 times can be obtained.
1 linear displacement of the rack in the rack and pinion mechanism
When set to 5 mm, the relative movement distance of the arm is 45 mm
become. Since the minimum radius of the pipe that can be gripped is limited by the rollers, etc., assuming that the minimum radius is approximately 34 mm, when the arms of the four telescopic link mechanisms each extend the maximum stroke of 45 mm, the maximum pipe length is approximately 124 mm. It turns out that it can be gripped. This corresponds to a pipe having a nominal diameter of 25 A to 100 A.
That is, the advantage that a large pipe diameter can be handled with a small stroke is obtained.

FIGS. 6 and 7 show a second embodiment of the present invention. A structure in which three robots of the first embodiment are connected as one module and three modules are jointly bendable. It has a high degree of flexibility in running. In the figure, this maintenance robot 70 is a module 71, 7 of the maintenance robot of the first embodiment.
2, 73 are connected to the front and back in triplicate. A first articulating bending mechanism 77 is provided between a first frame 74 that holds the arm row of the first module 71 and a second frame 75 that holds the arm row of the second module 72. A second articulating bending mechanism 78 is provided between the third module 73 and the third frame 76 that holds the arm row, and is configured so that the three arm rows can travel on the pipe while bending. .. FIG. 7 shows a state in which the bending mechanism 74 is bent, and the plate 79 incorporated therein is shown.
The connected state is maintained by. Bending mechanism 77, 78
Are driven by ultrasonic motors 80, 81, 82, 83.

FIG. 8 shows an operation in which the maintenance robot 70 of the triple module passes through the diameter-reduced portion R of the pipe due to a change in form. (1) The robot 70 moves in the direction of the arrow and reaches the reducer unit R. (2) When the leading module rides on the reducer, the pipe diameter increases, and the reaction force of the pipe tightening force increases. Strain gauges 51, 52, 53
(Fig. 1) detects and notifies the CPU. The CPU uses the ultrasonic motor 2 to keep the strain gauge tension at a set value.
8 and 38 (FIG. 1) are driven to extend and retract link mechanisms 24 and 2
5,34,35 are extended. As a result, the inscribed circle of the traveling roller is expanded, and the applicable pipe diameter is increased. (3) to (5) The robot 70 continues to move forward while expanding. (6) When the robot 70 has finished passing through the reducer unit and the strain force of the strain gauge reaches the set value, the ultrasonic motor is turned off. Since the ultrasonic motor has a large holding torque, the robot has a stable posture holding force and can move forward smoothly.

When the pipe diameter becomes gradually smaller, the reaction force of the pipe tightening force becomes smaller, so the strain gauge detects this and drives the ultrasonic motor to keep the strain gauge tension at a set value. Then, the expansion link mechanism is contracted. As a result, the inscribed circle of the traveling roller is reduced and the adaptive pipe diameter is reduced. Further, it is possible to achieve the same purpose by using a motor having a brake mechanism instead of the ultrasonic motor or using a stopper mechanism in combination with an ordinary motor. An ultrasonic sensor may be used to detect the different diameter portion.

FIG. 9 shows an operation in which the maintenance robot 70 of the triple module gets over the flange portion F at the pipe connecting portion due to a change in form. An ultrasonic sensor 86 is attached to the robot 70 near its tip. (1) The robot 70 moves in the direction of the arrow and finds the flange portion F by the ultrasonic sensor 86. (2) The arm of the leading module 71 is expanded,
At the same time, the bending mechanism 77 is bent and the first module 7 is bent.
1 starts to get over the flange portion F. Proceed with the running rollers of the remaining two modules. (3) The bending mechanism 77 bends and returns to the horizontal position, and at the same time, the arm of the leading module 71 is contracted to reduce the flange F.
Hold the pipe at the position where it has passed over. (4) The bending mechanisms 77 and 78 are bent, and at the same time, the arm of the second module is expanded and separated from the pipe upward. Move forward with the run rollers in the first and third modules. (5) The second module got over the flange,
Hold the pipe. (6) The arm of the third module 73 is expanded, and at the same time, the bending mechanism 78 bends and the third module 73 begins to get over the flange portion F. Proceed with the running rollers of the remaining two modules. (7) The bending mechanism 78 bends and returns to the horizontal direction, and at the same time, the arm of the third module 73 contracts and grips the pipe at a position where it has passed over the flange portion F. Adjust the pipe tightening force so that the strain gauge has the specified tension.

In the case of advancing in a right angle direction or the direction of advancing at a portion where the pipes intersect in a T-shape, the existence of the T-shaped branch pipe is detected by the ultrasonic sensor, and the above-mentioned method is performed. You can pass in the same way.

FIG. 10 shows an outline of a control system for a maintenance robot according to the present invention, and it is desirable to add various sensors and peripheral devices as needed.

[0028]

As described in detail above, according to the maintenance robot of the present invention, a single robot can cope with pipes of different diameters, and even if the diameter of the pipes changes, it can follow them. Since it is possible to change the form and continue traveling, it is possible to provide an efficient automatic diagnosis system without interrupting the inspection.

[Brief description of drawings]

FIG. 1 is a front view showing a reduced state of a maintenance robot according to the present invention.

FIG. 2 is a right side view in which a part of the maintenance robot of FIG. 1 is cut away.

FIG. 3 is a front view showing an enlarged state of the maintenance robot according to the present invention.

FIG. 4 is an enlarged mechanical view of a part of a telescopic link mechanism.

FIG. 5 is a schematic view showing a dimensional change of the extension link mechanism.

FIG. 6 is a front view of an embodiment in which three robot modules are provided.

FIG. 7 is a partially cutaway front view showing a bent state between modules of a triple robot.

FIG. 8 is a schematic diagram showing a state in which a triple robot passes through a reduced diameter portion of a pipe.

FIG. 9 is a schematic view of a state in which a triple robot gets over a flange portion.

FIG. 10 is a schematic circuit diagram of a control system.

[Explanation of symbols]

10 Robots 12 Central frame 14 Right arm row 16 Left arm row 18,19 Pivot fulcrums 21,22,23
Arm 31, 32, 33 Arm 24, 25, 34, 35 Telescopic link mechanism 28, 38 Telescopic motor 41, 42, 43 Roller support 44, 45, 46 Rotating roller 47, 48, 49 Traveling motor

─────────────────────────────────────────────────── ─── Continuation of the front page (51) Int.Cl. ⁵ Identification code Office reference number FI technical display location G01N 29/26 501 6928-2J

Claims (5)

[Claims] 1. A robot for non-destructively diagnosing from the outside of a pipe while moving a pipe system, comprising: an arm row extending from the central frame to the left and right in a substantially arc shape; and a first arm held by the central frame. A first rotating roller mounted on a roller support, a second rotating roller mounted on a second roller support held on the right arm row, and a third rotating roller mounted on a left arm row And a traveling motor that drives each of the rotating rollers. Each of the left and right arm rows has a first arm pivotally supported by the central frame, and a first extension / contraction for the first arm. A second arm connected via a link mechanism and a third arm connected to the second arm via a second telescopic link mechanism are included, and each telescopic arm of the right arm row is on the right arm row. The right extension motor for driving the link mechanism is mounted, and the left extension motor for driving each extension link mechanism of the left arm row is attached on the left arm row. The extension movement of the extension link mechanism causes three rotations. The diameter of a circle inscribed in the roller is variable, whereby the contraction force of the arm by the expansion and contraction link mechanism is configured to be a tightening force for the pipe. 2. The maintenance robot according to claim 1, wherein a strain gauge is arranged adjacent to the rotating roller so that a reaction force with respect to the tightening force of the rotating roller can be detected. 3. The maintenance robot according to claim 1, wherein the traveling motor and the expansion / contraction motor are ultrasonic motors. 4. A triple module robot comprising three robot modules for non-destructively diagnosing from outside the pipe while moving the pipe system and an articulated bending mechanism connecting the robot modules to each other. The module includes an arm row extending from the central frame to the left and right in a substantially circular arc shape, a first rotating roller attached to a first roller support held by the central frame, and a second arm roller held by a right arm row. A second rotating roller attached to the roller support, a third rotating roller attached to the third roller support held by the left arm column, and a traveling motor that drives each of the rotating rollers, Each of the left and right arm columns includes a first arm pivotally supported by the central frame, a second arm connected to the first arm via a first telescopic link mechanism, and a second arm. The second arm includes a third arm connected to the two arms via a second telescopic link mechanism, and a right telescopic motor for driving each telescopic link mechanism of the right arm row is mounted on the right arm row, and a left arm. A left extension motor for driving each extension link mechanism of the left arm column is mounted on the row, and the diameter of the circle inscribed in the three rotating rollers is variable due to the extension / contraction movement of the extension link mechanism. According to the above, the autonomous mobile pipe maintenance robot is configured such that the contracting force of the arm by the expansion and contraction link mechanism becomes a tightening force for the pipe. 5. The maintenance robot according to claim 1, wherein the telescopic link mechanism is a rage tong.