KR100971666B1 - Movable robot for inspecting and working pipelines - Google Patents

Abstract

The invention provides sufficient traction and running capacity for transporting work devices such as cameras, injectors, coatings and paints, which are mounted for exploration, cleaning, polishing and painting in pipes by wall pressing, and also the inner diameter of the pipes. Even if this is different, the compressive force is optimally maintained to ensure adaptability in pipes of various sizes, and when moving inside pipes having a constant inner diameter, the inside of the pipes ensures flexibility and smooth movement from protrusions such as foreign matters formed on the inner wall. It aims to provide exploration and work robots.

In order to achieve the above object, the present invention includes a main body having a plurality of through-holes formed in the longitudinal direction therein and having fixing bars protruding at 120 ° intervals on the outside; A driving unit radially disposed to match the fixture of the main body to move in a state of being pressed against the inner wall of the pipe; And a crimping part mounted on the fixing unit and the driving unit to maintain the state of being pressed on the inner wall of the pipe while lifting the driving unit. The inside of the pipe capable of smoothly performing the exploration, cleaning, polishing and painting operations. An exploration and operation robot, wherein the drive unit includes a frame, and a drive motor generating power at both ends of the frame in the longitudinal direction, a wheel rotating by the power of the drive motor, and the power of the drive motor with the wheel. Drive force transmission means for transmitting is provided, respectively, the pressing unit, the compression motor for generating power for the lifting of the frame in the center of the frame, the lifting bolt to rotate by the power of the compression motor, and the lifting bolt Lifting power transmission means for transmitting the power of the compression motor is installed, the lifting of the frame between the center and both ends of the frame Lifting guide bars for guiding are respectively installed, the lifting nut is screwed to the lifting bolt and the lifting guide bar receiving groove for receiving the lifting guide bar is fixed to the corresponding position of the fixing rod, the frame is driven at both ends The motor, the wheel and the bevel gear is separated into a part and the remaining part, and the drive motor, the wheel and the bevel gear is hinged to the middle of the extended one side and the bent end of the remaining part, while the drive motor, the wheel And elastically supporting the remaining portion facing the end of the portion including the bevel gear, thereby moving the inner wall of the pipe while maintaining the state in which the driving motor, the wheel, and the portion including the bevel gear are elastically supported. When the force is applied to the wheel by the protruding portion during It provides a robot for internal exploration and operation of the pipe, characterized in that.

Description

Robot for internal exploration and work of piping {MOVABLE ROBOT FOR INSPECTING AND WORKING PIPELINES}

1 is a view showing a state of use of the robot device for the exploration and painting in the existing equipment piping,

FIG. 2 is a front view showing a driving state of the robot apparatus of FIG. 1;

3 is a view showing the overall configuration of the robot for internal exploration and operation of the pipe according to an embodiment of the present invention,

4 is a view illustrating a state in which a driving part and a crimping part are separated from the main body of the robot of FIG. 3;

5A to 5C are views illustrating an example of performing a specific task by installing a work device on the robot of FIG. 3,

6A to 6C are views illustrating a process of compressing the robot of FIG. 3 in a pipe and then pressing the robot according to the inner diameter of the pipe.

7a to 7c is a view showing a buffer operation process for smooth running inside the pipe of the robot of Figure 3 constant internal diameter.

<Explanation of symbols for the main parts of the drawings>

10: forward robot 11, 21: pressure roller

12, 22: running roller 14, 24: gear train

15 pressure sensor 18 flexible joint

20: rear robot 30: searcher

40: holder 50: controller

60: service tank

100: robot for internal exploration and operation of the pipe according to an embodiment of the present invention

110: main body 111: fixture

120: drive unit 121: frame

1211: frame hinge coupling pin 1212: frame connecting bar

1213: buffer spring 122: drive motor

123: wheel 124: bevel gear

130: crimping unit 131: crimping motor

132: lifting bolt 133: spur gear

134: lifting guide bar 135: lifting nut

136: lifting guide bar receiving home

The present invention relates to an internal exploration of pipes and a robot for work. More specifically, the internal diameter of the pipes is firmly compressed to the inner walls of various industrial equipment pipes, including water and sewage pipes and gas pipes, to secure sufficient traction and running capacity. However, the present invention relates to a robot for internal exploration and operation of a pipe that can be flexibly adapted to perform exploration, cleaning, polishing, and painting smoothly.

Generally, various types of pipes are installed in various industries, for example, water, oil, liquefied gas, or the like, in various fields such as water pipes, city gas pipes, and plant pipes in petrochemical plants. .

Such pipes may be damaged due to aging or corrosion as time passes after installation, or damage to the pipes due to external impacts due to construction, etc., which may cause a large accident.

Therefore, during the operation after the construction of the pipe, maintenance work is performed to prevent accidents by checking the internal condition of the pipe from time to time or at regular intervals. Such maintenance work approaches the pipe to be inspected due to the facilities around the pipe. This is difficult and also requires a lot of money and manpower because the pipe is not accessible if the pipe is buried underground.

For this reason, a number of mobile robots for inspecting the inside of the pipe that can be inspected from the outside by photographing the state of the pipe while moving along the inside of the pipe have been developed and applied to the site.

Specifically, as a device for exploring and painting a pipe state while moving inside the pipe P of an industrial facility, Patent No. 383535 (robot device for exploration and painting inside a facility pipe) is shown in FIG. As described above, it has a configuration for mounting a variety of work means on the body consisting of the front robot 10 and the rear robot 20.

The front robot 10 is moved by the traveling roller 12 while being supported in the pipe by the pressure roller 11, and the rear robot 20 also has the pressure roller 21 and the traveling roller 22 having the same configuration as above. Move with the The front robot 10 and the rear robot 20 may be connected to the flexible joint 18 to move on the curved pipe.

Here, the work means for performing a predetermined operation on the pipe, such as taking pictures inside the pipe, screen transmission, pre-treatment, coating treatment, coating thickness measurement is mounted detachably on the front robot (10).

And the flexible tube 61 is connected to the front robot 10 and the rear robot 20 by a power supply wire, pre-treated sand-containing compressed air and a hose capable of supplying paint.

In addition, a controller 50 is used to adjust driving conditions such as forward, backward, and rotation of the front robot 10 and the rear robot 20 and to receive and store data from the work means.

In addition, the service tank 60 stores sand for pretreatment or paint for painting and sprays it at high pressure, and includes a pump, a valve, and the like to form a predetermined spray pressure, to interrupt the spray, and to adjust the spray pressure. .

2 is a front view showing the driving state of the robot of FIG. 1, wherein the front robot 10 and the rear robot 20 are a pair of conical traveling rollers 12 connected to the respective motors and the gear train 14. It is movable by 22. The traveling rollers 12 and 22 are alternately assembled with long or short pins depending on the diameter at any point on the rotating shaft, so that the gap can be adjusted according to the inner diameter of the pipe.

The three pressure rollers 11 in contact with the pipes at the upper side and both sides of the front robot 10 each have a built-in spring to exert a constant pressure on the pipe. Since the three pressing rollers 11 and the two running rollers 12 are compressed in the pipe, the front robot 10 can move without shaking.

In this case, the front robot 10 and the rear robot 20 are provided with pressure sensors 15 on the pressure rollers 11 and 21 on both sides to detect the bending of the pipe. In the case of moving forward on a straight pipe, the pressures detected by the pressure sensors 15 on both sides are the same, but the pressure sensors of both pressure rollers 11 are entered as soon as the pipe enters a curved pipe point where the pipe is bent left or right. The pressure difference detected in 15 causes a difference in the motor rotational speed of the traveling rollers 12 on both sides, thereby enabling movement of the curved pipe.

However, the conventional robot is sufficient for exploration but the driving force is weak, so it is not suitable for precise work by towing sand or coating material about 100 ~ 200m and all work is done by the rotation of the work head located in the center. It is most important that the work head is located in the center because it is made, but there is a limitation in adaptation due to the change in the inner diameter of the pipe, and there is a problem in that it cannot maintain the center point of the work device to be mounted and contribute to a certain quality.

From this, the present invention has been made to solve the above problems, and a sufficient traction force for transporting a work device such as a camera, an injector, a coating, and a paint, which is mounted for exploration and cleaning, polishing, and painting in a pipe by a wall pressing method. And the ability to run and also maintain the compression force even if the inner diameter of the pipe is changed to ensure the adaptability inside the pipe of various sizes, and flexibility from protrusions such as foreign matters formed on the inner wall when moving inside the pipe having a constant inner diameter The purpose is to provide a robot for internal exploration and work of piping to secure and ensure smooth movement.

In order to achieve the above object, the present invention includes a main body having a plurality of through-holes formed in the longitudinal direction therein and having fixing bars protruding at 120 ° intervals on the outside; A driving unit radially disposed to match the fixture of the main body to move in a state of being pressed against the inner wall of the pipe; And a crimping part mounted on the fixing unit and the driving unit to maintain the state of being pressed on the inner wall of the pipe while lifting the driving unit. The inside of the pipe capable of smoothly performing the exploration, cleaning, polishing and painting operations. An exploration and operation robot, wherein the drive unit includes a frame, and a drive motor generating power at both ends of the frame in the longitudinal direction, a wheel rotating by the power of the drive motor, and the power of the drive motor with the wheel. Drive force transmission means for transmitting is provided, respectively, the pressing unit, the compression motor for generating power for the lifting of the frame in the center of the frame, the lifting bolt to rotate by the power of the compression motor, and the lifting bolt Lifting power transmission means for transmitting the power of the compression motor is installed, the lifting of the frame between the center and both ends of the frame Lifting guide bars for guiding are respectively installed, the lifting nut is screwed to the lifting bolt and the lifting guide bar receiving groove for receiving the lifting guide bar is fixed to the corresponding position of the fixing rod, the frame is driven at both ends The motor, the wheel and the bevel gear is separated into a part and the remaining part, and the drive motor, the wheel and the bevel gear is hinged to the middle of the extended one side and the bent end of the remaining part, while the drive motor, the wheel And elastically supporting the remaining portion facing the end of the portion including the bevel gear, thereby moving the inner wall of the pipe while maintaining the state in which the driving motor, the wheel, and the portion including the bevel gear are elastically supported. When the force is applied to the wheel by the protruding portion during It provides a robot for internal exploration and operation of the pipe, characterized in that.

Hereinafter, preferred embodiments of the present invention will be described in detail with reference to the accompanying drawings, which are intended to be described in detail so that those skilled in the art can easily implement the present invention. It is not intended that the technical spirit and scope of the invention be limited.

3 is a view showing the overall configuration of the robot for the internal exploration and operation of the pipe according to an embodiment of the present invention, Figure 4 is a view showing a state in which the driving portion and the crimping portion is separated from the main body of the robot of FIG.

3 and 4, the robot 100 for internal exploration and operation of the pipe according to the embodiment of the present invention has a compression contact with the inner circumferential surface of the pipe so as to have a driving traction force and a compressive force that can withstand and move its own load. In order to make a three-axis push type, the main body 110, the driving unit 120 is disposed radially on the main body 110 at 120 ° intervals to move in a state pressed in the inner wall of the pipe, and the It is mounted to the main body 110 and the drive unit 120 is made up of a crimping unit 130 to maintain the state pressed on the inner wall of the pipe while lifting the drive unit 120.

In addition, a camera, a cleaning device, a polishing device, a paint spraying device, and the like for exploring the internal state of the pipe and cleaning, polishing, and painting work from the front part of the main body 110 may be replaced as necessary. .

The main body 110 forms a plurality of through holes therein, with three sub through holes positioned around the main through hole in the center in the longitudinal direction, and transports sand or a coating agent for a sand blasting method. Communication cables for driving control of hoses and motors, power cables for power supply, and the like are located.

In addition, the main body 110 is provided with a plate-shaped fixing member 111 protruding on the outer circumferential surface at intervals of 120 ° radially with respect to the axis to fix the crimping portion 130.

The driving unit 120 includes a frame 121 in the longitudinal direction to match the axis of the main body 110.

At both ends of the frame 121, a drive motor 122 for generating power, a wheel 123 rotating along a moving path by the power of the drive motor 122, and a drive motor with the wheel 123 As the driving force transmitting means for transmitting the power of the 122, for example, bevel gears 124 are provided, respectively.

The driving motor 122 is attached to each of the wheels 123 to secure a strong traction force with a total of six power transmission systems.

Since the bevel gear 124 has a heavy load of the drive motor 122, the weight of the motor itself may act as a load when the spur gear is connected, thereby connecting the drive motor 122 and the wheel 123 vertically. Thereby minimizing torque loss.

The frame 121 is separated into both ends and the remaining parts including the driving motor 122, the wheel 123, and the bevel gear 124. In this case, the drive motor, the wheel and the bevel gear including the frame portion is separated to extend by a predetermined length to one side, and the end of the separated frame portion is bent.

The middle of the extended portion of the frame portion including the drive motor, the wheel and the bevel gear and the bent end of the remaining frame portion is hinged by a frame hinge coupling pin 1211.

The frame connecting bar 1212 is fixed to an end of the frame part including the driving motor, the wheel, and the bevel gear, and the frame connecting bar 1212 is penetrated through the remaining frame part. Elastic support between the buffer 1212 and the remaining frame portion.

Then, the frame portion including the drive motor, the wheel, and the bevel gear is maintained in the frame connecting bar 1212 is elastically supported by the buffer spring 1213 relative to the remaining frame portion by the buffer spring 1213. While moving the inner wall of the pipe.

And while the frame part including the driving motor, the wheel, and the bevel gear is moving, various kinds of foreign matters are attached to or generated on the inner wall, thereby eliminating driving obstructions caused by the protruding portion, thereby ensuring flexibility for the working environment. It is necessary to secure.

That is, when a force is applied to the frame part including the driving motor, the wheel and the bevel gear, which is elastically supported, the frame part including the driving motor, the wheel and the bevel gear is connected to the frame hinge pin 1211. While turning toward the main body 110, the buffer spring 1213 is reduced while moving as much as the force received by the elasticity generated by the shock absorbing action.

When the force applied to the frame part including the driving motor, the wheel, and the bevel gear is removed, the shock absorbing spring 1213 is stretched again to return to the original state.

The crimping unit 130 is mounted on the fixing frame 111 of the main body 110 and the remaining frame portion of the frame 121 and maintains a state of being compressed on the inner wall of the pipe while elevating the driving unit 120. .

The frame 121, the compression motor 131 for generating power for the lifting of the frame 121 in the center, and the lifting bolt 132 rotates along the lifting path by the power of the compression motor 131. And, as a lifting power transmission means for transmitting the power of the compression motor 131 to the lifting bolt 132, for example, a flat gear 133 is installed, the power of the compression motor 131 is the lifting bolt 132 The lifting nut 135 is fixedly installed at the corresponding position of the holder 111 so as to be screwed with it and lift the frame 121 when it is delivered.

And the lifting guide bar 134 for guiding the lifting of the frame 121 is provided between the center and both ends of the frame 121, respectively, the lifting guide bar receiving groove 136 for receiving the lifting guide bar 134 ) Is installed at the corresponding position of the holder 111.

When the lifting bolt 132 is rotated by the crimping motor 131 and the spur gear 133, the lifting nut 135 has a TM nut which can increase the holding force by, for example, a lifting nut 135, thereby increasing the holding force. 132 is screwed to adjust the stroke of the main body 110 and the drive unit 120 while vertical movement to compress the inner wall of the pipe to be worked, and also maintains the compression force optimally even if the inner diameter of the pipe is changed to flexibly cope with To make it possible.

Here, the elevating guide bar 134 and the elevating guide bar receiving groove 136 is composed of, for example, a combination of the ball bushing and the slide rod is attached to each pair of the drive unit 120 to prevent twisting and separation while the robot is Make sure to support the wall with a constant force.

The robot 100 according to the embodiment of the present invention, for example, the target of the pipe diameters of various sizes of 400mm ~ 3000mm hit the work object by the rotation of the work device located in the center portion inside the pipe Since cleaning, foreign matter removal, roughness work and painting work are performed, the main body 110 is always positioned at the center without being controlled by the elevating of the driving unit 120, so that the pressure is fixed to the inner diameter of the pipe at a constant pressure. Wait or change to ready state.

In addition, since the robot 100 according to the embodiment of the present invention is composed of six driving motors 122 and three compression motors 131, the main body 110 and the working equipment are secured inside the pipe by securing a high driving force. While moving, it is possible to secure sufficient traction and driving ability for exploration, cleaning and painting in the pipe.

5A to 5C are diagrams illustrating an example in which a work device is installed in the robot of FIG. 3 to perform a specific task, and is explored and polished in the pipe to replace work in the inner space of a closed pipe that is difficult for humans to work. Do cleaning, cleaning and painting work.

For example, first, the camera is mounted in front of the main body 110 to measure the distance while moving the inside of the pipe and check and check the state. In this case, the camera scan sends information such as the degree of corrosion and foreign matter formation inside the pipe to the outside to collect and manage data for processes such as cleaning and maintenance.

The camera performs a polishing operation (roughness generation operation) to create a state for uniformly painting a predetermined section with data obtained after pipe exploration, and removes foreign substances generated after the polishing operation.

Finally, the corrosion prevention coating (painting) to increase the durability after the cleaning operation to a uniform thickness.

6A to 6C are views illustrating a process of compressing the robot of FIG. 3 in a pipe and then compressing the pipe according to the inner diameter of the pipe, and FIGS. 7A to 7C are diagrams illustrating operations of a shock absorber for smooth running in the pipe of FIG. 3. It is a figure which shows the state.

Robot 100 according to an embodiment of the present invention, when the inner diameter of the pipe is changed in the process of performing the specific operation of FIG. 5 or foreign matters occur in the inner wall of the pipe is flexible by appropriate operation accordingly Can cope

First, as shown in Figs. 6A to 6C, in order to compress the robot 100 of the present invention in the pipe and press it to the inner diameter of the pipe, it is designed and mounted at a 120 ° angle from the inner center of the pipe. The driving unit 120 is compressed and maintained inside the pipe by a uniform lifting operation so that the main body 110 is always positioned at the center.

This is because all the work is hit by the rotation of the work device located in the center in the pipe work object to clean, remove foreign matters, roughness and painting work.

Specifically, in the process of seating the robot inside the pipe, as shown in FIG. 6A, the robot is first made into the smallest size and artificially introduced into the pipe.

Next, as shown in Figure 6b, when driving the compressed motor 131 coupled to the elevating bolt 132 through the spur gear 133, the robot put into the pipe wheels installed every 120 degrees from the center of the robot (123) The drive unit 120 including the two / one set extends toward the inner wall of the pipe to be worked.

At this time, since the position of the driving unit 120 is already adjusted in the center of the robot, the current is detected from the moment when the wheel 123 of each driving unit 120 touches the inner wall of the pipe, and the inner wall compression of the wheel is adjusted. Perform a center calibration inside the pipe.

That is, in the current control, since the current value increases when the wheels touch the inner wall of the pipe and continue to add the compressive strength to the inner wall, the current value increases. When the strength is obtained, the value becomes a current limit value, and the crimping of the drive part 120 to the pipe inner wall is stopped.

From this, as shown in Fig. 6C, preparation before entering the work is completed.

The above process is applied as is even when the inner diameter of the pipe is changed in the state located on the inner wall of the pipe and can adapt to the change in the inner diameter of the pipe through the current control as described above.

Thus, when the prepared robot moves the inner wall of the pipe, unlike in the case of Figs. 6A to 6C, as shown in Figs. 7A to 7C in a constant state without a change in the inner diameter of the pipe, the coating (painting work of the production pipe) In addition, even in the repair of the inner wall of the existing pipe, which is already used, the inner wall is uneven due to the irregularities solidified by the sediment or the corrosion of the pipe. In this case, changing the position of the wheel 123 according to the state of the foreign matter by the buffer spring 1213 to smoothly pass the projecting portion minimizes the shock absorption and shaking applied to the working (cleaning / polishing / painting) device. Let's do it.

That is, when a force is applied to the frame portion including the driving motor, the wheel, and the bevel gear, which is elastically supported by the buffer spring 1213, the frame portion including the driving motor, the wheel, and the bevel gear is applied. The drive shaft, the wheel and the bevel gear are moved by the force received by the elastic force generated while the buffer spring 1213 is reduced while turning toward the main body 110 around the frame hinge pin 1211. When the force applied to the included frame portion is removed, the shock absorbing spring 1213 is retracted and returned to its original state by the elasticity generated.

This invention is not limited to the above embodiments, various modifications are possible within the scope of the invention described in the claims, and such modifications are also included within the scope of the invention.

As described above in detail, according to the robot for internal exploration and operation of the pipe of the present invention, the screw is coupled to the inner wall in a state of being pressed against the inner wall by ensuring a flexible coping with a change in the inner diameter of the pipe and ensuring sufficient traction and running ability. Including pipes, it can carry work devices such as cameras, injectors, coatings, and paints installed for exploration and cleaning, polishing, and painting inside the pipes. While contributing to a certain quality, the compression force is optimally maintained to secure adaptability in pipes of various sizes, thereby overcoming limitations such as changes in diameter such as curved pipes and straight pipes.

In addition, the shock absorber is effective in securing flexibility and smooth movement of the working environment by eliminating jams generated from protrusions such as foreign matters formed on the inner wall when the inner diameter of the pipe is moved.

Claims (1)

A main body having a plurality of through holes formed therein in the longitudinal direction and having a fixing bar protruding at an interval of 120 ° from the outside; A driving unit radially disposed to match the fixture of the main body to move in a state of being pressed against the inner wall of the pipe; And, An inner exploration of the pipe, which is mounted on the fixing unit and the driving unit, and maintains the state of being pressed on the inner wall of the pipe while lifting the driving unit, so that the exploration, cleaning, polishing, and painting can be performed smoothly. As a working robot, The drive unit is provided with a frame, the drive motor for generating power at both ends of the frame in the longitudinal direction, the wheel to rotate by the power of the drive motor, and the driving force transmission means for transmitting the power of the drive motor to the wheel Are installed separately, The crimping unit may include a crimping motor for generating power for elevating the frame in the center of the frame, a elevating bolt rotating by the power of the crimping motor, and a elevating power transmitting power for the crimping motor with the elevating bolt. Means are provided, and the lifting guide bar for guiding the lifting of the frame between the center and both ends of the frame, respectively, the lifting nut screwed with the lifting bolt, and the lifting guide bar receiving groove for receiving the lifting guide bar It is fixedly installed at the corresponding position of the fixture, The frame is divided into a part including the drive motor, wheels and bevel gears and the remaining parts installed on both ends, and the bent end of the middle and the extended one side of the part containing the drive motor, wheels and bevel gears The hinge is coupled to the other side facing the end of the drive motor, the wheel and the bevel gear containing the elastic portion, so that the portion containing the drive motor, the wheel and the bevel gear is elastically supported while the pipe The inner wall of the pipe and the robot for internal exploration and operation, characterized in that to move toward the main body by the elastic force when the force is applied to the wheel by the protruding portion during the movement.

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