KR101486017B1 - Robot for inspection in unpiggable pipeline having emergency rescue unit, method for rescuing the same and robot for rescuing the same - Google Patents

Abstract

According to the present invention, provided is an unpiggable pipeline exploring robot capable of emergency rescue, which includes multiple modules; at least one joint part installed between the modules; an operating part included in at least one among the modules; a wheel included in each of the modules to be driven on an inner surface of a pipeline; an arm connecting the wheel to the modules to make the wheel unfolded and folded by air pressure; an air pressure part providing air pressure to make the arm unfolded and folded for the modules; and an emergency rescue part included in at least one among the modules.

Description

TECHNICAL FIELD [0001] The present invention relates to an unfugged piping robot for emergency construction, an emergency structure of an unfedged piping robots, and a robot robot for unfedged piping robots. BACKGROUND OF THE INVENTION 1. Field of the Invention FOR RESCUING THE SAME}

The present invention relates to an unfugged pipe fusing robot capable of an emergency structure, an emergency structure method of an unfugged pipe fusing robot, and a structural robot of an unfedged pipe fusing robot, and more particularly, The operation is stopped unexpectedly in the pipe which is several kilometers away and the arm pushes the pipe while the module is extended in the unfugged pipe so that the conventional emergency structure is difficult, An unfugged pipe fusing robot capable of emergency rescue of a robotic robot, an emergency structure method of an unfugged pipe fusing robot, and a structural robot of an unfedged pipe fusing robot.

Pipes buried underground such as gas piping are divided into piggable pipeline and unpiggable pipeline.

Among them, Figgable pipes mean pipes with an operating pressure of 20 atmospheres or higher and can be applied to intelligent pigs. Generally, public institutions have the pipelines, so they have a strong seismic design, (For example, intelligent pigs from KOGAS) have already been constructed.

On the other hand, the unfugged piping refers to piping that can not be applied to Intelligent Pig due to T-tube, bending, etc., under the operating pressure of 10 atm or less. Usually, a private institution owns the piping, . Unplugged pipelines such as these are generally not well-designed for earthquake resistance, and are vulnerable when an earthquake occurs. In the event of natural disasters such as earthquakes, there is a lot of room to be connected to large-scale disasters.

As an example of such an unfugeled pipe inspection robot, there is an Explorer robot of Carnegie Mellon University of the United States, but it is an early stage of technology development and a lot of research and development is required.

As a conventional technique related thereto, Korean Patent Laid-Open Publication No. 10-2013-0035431 (published on Apr. 9, 2013, entitled "Pipe Inspection Robot") provides a piping robot capable of running smoothly in a pipe A piping robot according to a preferred embodiment of the present invention includes a main body configured to be disposed and moved in a piping, a magnetic force means formed in the main body such that the main body is magnetically levitated, and a detection means mounted on the main body Quot; includes a first body portion which is made of a metal material.

In U.S. Patent No. 6,917,176 (entitled "Gas Main Robotic Inspection System", entitled "Gas Main Robotic Inspection System", July 12, 2005), "a plurality of modules, at least one joint member, Wherein the plurality of modules comprises two terminal modules and a plurality of mid train modules, wherein the at least one joint member comprises a double-axis steerable interconnect < RTI ID = 0.0 > A system for examining selective conditions in a pipe, including a joint and a single-axis steerable interconnect joint.

However, in the case of such a conventional unfugged pipe fusing robot, it is considerably difficult to recover it if the operation is stopped unexpectedly in the pipe several Km away from the launching entrance. Particularly, in the case where the arm or the leg is extended in the piping and the arm or the leg pushes the piping, if the piping is supported, the piping robot can be recovered. However, the untreated piping robot Has a big problem in the recovery because it is several hundred kilograms or more.

1. Korean Patent Publication No. 10-2013-0035431 (published on April 9, 2013, entitled "Piping Robot") 2. U.S. Patent No. 6,917,176 (entitled "Gas Main Robotic Inspection System", registered on July 12, 2005)

SUMMARY OF THE INVENTION The present invention has been made in order to solve the above-mentioned problems, and it is an object of the present invention to provide a module in which a module is unexpectedly stopped in a pipeline several kilometers away from a launching entrance, An unfugged pipe fusing robot capable of urgently structuring an unfugged pipe fusing robot having a diameter of several hundreds of kilograms or more, which has been difficult in the conventional emergency structure due to pushing and supporting the pipe, an emergency structure method of an unfedged pipe fusing robot, The object of the present invention is to provide a structural robot for a robotic robot.

According to another aspect of the present invention, there is provided an unfugged pipe flaw detection robot including: a plurality of modules; At least one joint disposed between the plurality of modules; A driving unit provided in at least one of the plurality of modules; A wheel provided on at least one of the plurality of modules for running the inner surface of the pipe; An arm connecting the wheel and the plurality of modules such that the wheel is folded into the module by pneumatic pressure and unfolded out of the module; A pneumatic portion for providing pneumatic pressure such that the arm can be folded and unfolded with respect to the plurality of modules; And an emergency structure unit provided in at least one of the plurality of modules.

In addition, the emergency structure unit preferably includes a pneumatic discharge unit for discharging the pneumatic pressure of the pneumatic unit according to an external operation.

The external operation may be an operation of pushing part or all of the terminal for pneumatic discharge, pressing part or all of the terminal, pulling out part or all of the terminal, or rotating part or all of the terminal It may be a combination of these actions.

It is also possible for the restoring springs to be positioned inside the plurality of modules, with the pneumatic pressure of the pneumatic portion being discharged by the external operation, so that the arms are folded with respect to the plurality of modules. In this case, it is possible to use a two-port solenoid valve.

A three-port pneumatic solenoid valve for controlling the arm is provided. The three ports include a P port for pneumatic entry and exit, an A port for folding the arm when the power is not supplied, B port so that it is redirected to the B port only when the power is applied and is always fixed to the A port when the power is not supplied.

It is preferable that the emergency structure unit is provided in each of the modules at both ends of the plurality of modules or at each of the modules at both ends of the plurality of modules.

At least one of the plurality of modules may include a communication unit for communicating with the outside of the piping, and the communication unit may transmit an emergency rescue signal to the outside of the piping if an urgent structure of the unfedged piping robot is required It is preferable to transmit.

Meanwhile, the emergency structure method of the unfugged pipe flawing robot according to the present invention includes: a plurality of modules; At least one joint disposed between the plurality of modules; A driving unit provided in at least one of the plurality of modules; A wheel provided on the plurality of modules for traveling the inner surface of the pipe; An arm connecting the wheel and the plurality of modules such that the wheel is folded into the module by pneumatic pressure and unfolded out of the module; A pneumatic portion for providing pneumatic pressure such that the arm can be folded and unfolded with respect to the plurality of modules; And an emergency structure provided in at least one module of the plurality of modules, the method comprising the steps of: operating the emergency structure to perform emergency rescue operation of the unfedged piping robot; do.

In addition, it is preferable that the emergency structure step is a step of operating a pneumatic discharge unit to discharge the pneumatic pressure of the pneumatic unit according to an external operation.

The external operation may be an operation of pushing part or all of the terminal for pneumatic discharge, pressing part or all of the terminal, pulling out part or all of the terminal, or rotating part or all of the terminal It may be a combination of these actions.

It is preferable that the emergency structure unit is provided in each of the modules at both ends of the plurality of modules or at each of the modules at both ends of the plurality of modules.

Further, in order to communicate with the outside of the piping, when an urgent structure of the unfugaed piping robot is required through a communication unit provided in at least one of the plurality of modules, an emergency rescue signal is transmitted to the outside of the piping Step < / RTI >

Meanwhile, the robot for constructing the unfugged pipe flawing robot according to the present invention includes: a plurality of modules; At least one joint disposed between the plurality of modules; A driving unit provided in at least one of the plurality of modules; A wheel provided on the plurality of modules for traveling the inner surface of the pipe; An arm connecting the wheel and the plurality of modules such that the wheel is folded into the module by pneumatic pressure and unfolded out of the module; A pneumatic portion for providing pneumatic pressure such that the arm can be folded and unfolded with respect to the plurality of modules; And an emergency structure provided on at least one module of the plurality of modules, wherein the emergency robot includes: a pneumatic pressure discharge unit that operates the pneumatic discharge unit to discharge the pneumatic pressure of the pneumatic unit, And an induction portion.

The pneumatic discharge guide may be an operation for pushing part or all of the terminal for pneumatic discharge, pressing part or all of the terminal, pulling out part or all of the terminal, or rotating part or all of the terminal It is preferable to execute a combination of these operations.

In addition, the pneumatic discharge guide portion and the pneumatic discharge portion are formed to have male and female structures, and the pneumatic pressure of the pneumatic discharge portion can be discharged by the mutual coupling.

Further, the emergency structure section is provided in each of the modules at both ends of the plurality of modules or at each of the modules at both ends of the plurality of modules, so that the structural robot moves through the piping, It is possible for the pneumatic discharge guide portion and the pneumatic discharge portion to automatically operate by the moving force.

According to the present invention, there is provided an emergency-structured robot, an emergency-structured method of an unfedged pipe-boring robot, and a structural robot of an unfedged pipe-boring robot,

First, the operation is stopped unexpectedly within the pipeline several kilometers away from the launching entrance, and the module is supported by pushing the pipe firmly with the arm extended in the piping, It is possible to rescue an unfugged pipe robot more than a kilogram.

Secondly, although a conventional tubing robot can be recovered when the robot is dismantled, the robot can be recovered without disassembly. Thus, it is possible to minimize the cost, effort, and time required for the emergency structure.

Thirdly, the robot has a communication unit for transmitting an emergency rescue signal to the outside of the pipeline in a situation where an emergency structure is needed, which has an advantage of easy piping operation.

Fourth, the global pipeline network is growing at an annual average rate of 4.72%, and the global plumbing market is expected to reach around 1.3 trillion won by 2015 as the pipeline health management legislation is being implemented in the US, Europe, and Mexico. It is expected that the piping robots capable of the same emergency structure will make a great contribution to economic and industrial aspects.

Fifth, it is possible to manufacture an unfugged piping robot capable of urgent construction, and it can be used as a service robot or a piping operation robot in the domestic market, It is expected to induce import substitution effect and creation of new market.

Sixth, since the only product currently being operated is an explorer of Carnegie Mellon University in the United States, the concept of emergency structure has not been applied to the product since it is in the early stage of development. Therefore, It is possible to introduce the concept of structure for the first time, thereby contributing to efficiency, safety and economy of piping operation.

1 is a schematic view of an unfugged pipe firing robot capable of an emergency structure according to a preferred embodiment of the present invention.
FIG. 2 is a view showing a drive module of an unfugged pipe firing robot capable of an emergency structure according to a preferred embodiment of the present invention.
FIG. 3 is a diagram illustrating an in-wheel structure of a drive module of an unfugged pipe firing robot capable of an emergency structure according to a preferred embodiment of the present invention.
FIG. 4 is a view showing a state in which the piping is supported when the unfugged piping is moved through the support module of the unfugged piping robot capable of the emergency structure according to the preferred embodiment of the present invention.
FIG. 5 is a view showing a joint (joint part) of an unfugged pipe firing robot capable of an emergency structure according to a preferred embodiment of the present invention.
FIG. 6 is a view showing a state in which joints (joints) between different modules are controlled so that the arms provided in different modules of the unfugged pipe firing robot having the pneumatic joint structure according to the preferred embodiment of the present invention are different from each other by 90 degrees, Fig. 3 is a view showing a structure for further strengthening the support in the piping even if two arms are provided in the module.
FIG. 7 is a view showing a pneumatic joint (joint part) of an unfugged pipe firing robot capable of an emergency structure according to a preferred embodiment of the present invention.
FIG. 8 is a view showing a problem in applying a pneumatic joint (articulating part) of an unfugged pipe firing robot capable of an emergency structure according to a preferred embodiment of the present invention and a solution technique therefor.
FIG. 9 and FIG. 10 illustrate an emergency structure of the unfugged piping robot according to the preferred embodiment of the present invention, using a restoration spring in a two-port system.
FIGS. 11 to 13 illustrate a structure in which a normal position of a solenoid valve is utilized in a three-port system as one of the urgent structures of an unfugged pipe firing robot capable of an emergency structure according to a preferred embodiment of the present invention FIG.
14 to 16 are views for explaining a fastening structure of an arm and a wheel of an unfugged pipe firing robot capable of an emergency structure according to a preferred embodiment of the present invention.

Hereinafter, preferred embodiments of the present invention will be described in detail with reference to the accompanying drawings. Prior to this, terms and words used in the present specification and claims should not be construed as limited to ordinary or dictionary terms, and the inventor should appropriately interpret the concepts of the terms appropriately The present invention should be construed in accordance with the meaning and concept consistent with the technical idea of the present invention.

Therefore, the embodiments described in this specification and the configurations shown in the drawings are merely the most preferred embodiments of the present invention and do not represent all the technical ideas of the present invention. Therefore, It is to be understood that equivalents and modifications are possible.

1 is a schematic view of an unfugged pipe firing robot capable of an emergency structure according to a preferred embodiment of the present invention.

1, an unfugged pipe firing robot capable of an emergency structure according to a preferred embodiment of the present invention includes a vision module, a drive module, a battery module, a pump, And a pump module. 1, an NDE module and a support module may be optionally additionally provided. In the case where the NDE module is omitted in FIG. 1, the support module may be omitted. In this case, the battery module is positioned between the drive modules shown in FIG. can do.

First, the vision module can be a camera module and a light source that enable a unfugged pipe robot to detect defects or defects in a pipe, but can also be a data collection module. In other words, a combination of an ultrasonic sensor, an infrared sensor, an acceleration sensor, a magnetic flux leakage sensor (MFL sensor, a magnetic flux leakage sensor), a sensor for detecting eddy current, and an odometer have.

Next, the drive module is a module for providing mobility of the unfugged pipe flawing robot, which enables the unfedged pipe fencing robot to move within the pipe.

FIG. 2 is a view showing a drive module of an unfugged pipe firing robot capable of an emergency structure according to a preferred embodiment of the present invention. Referring to FIG. 2, a wheel for driving an inner surface of an unfedged pipe And an arm for connecting the wheel and the drive module so that the wheel can be folded into the drive module by the pneumatic pressure and unfolded to the outside of the drive module.

FIG. 3 is a diagram illustrating an in-wheel structure of a drive module of an unfugged pipe firing robot capable of an emergency structure according to a preferred embodiment of the present invention. A drive motor (a core and a coil), a drive input shaft (a shaft), a harmonic gear, a wheel drum, and a tire.

As shown in FIGS. 14 to 16, the wheel has an outer projection protruding outward from one side of the wheel drum, the outer projection has a first coupling hole used for coupling with the arm, The arm has a second engagement hole used to engage with the wheel having a " C "shape engagement portion that surrounds the outer protrusion of the wheel in a " C" shape, and the first engagement hole and the second engagement The holes are combined by a screw fastening method to simplify the fastening structure of the arm and the wheel of the unfugged pipe fusing robot to facilitate the coupling and separation and simplify the maintenance of the pipe fusing robot It has the effect of reducing the maintenance cost. In particular, the tire should be easy to replace as a consumable item, so that the convenience of maintenance can be maximized when the above configuration is adopted.

Here, the tire may be a tire pattern for preventing slippage of the tire due to slippery foreign substances in the unfilled pipe, or a wire formed by inserting a wire or wire into the tire itself and inserting it on the outer surface of the tire . In addition, a spike may be provided on the wheel drum so as to penetrate the tire, thereby preventing slippage in the pipe.

Next, the battery module collectively refers to a power module. The battery module may be a rechargeable battery by self-production of electric power by a turbine system using a gas flow in a pipe, and may be a rechargeable battery A battery module, a cell or a set of cells, or a pack. In case of the tethering method, it is possible to supply the power from the outside by removing the battery module, but in case of the untethering method, it is preferable that the battery is a battery which can produce or recharge itself. Although it is not currently being used in this way, it is possible to look into the future operation of piping to provide a recharging center for recharging the battery in the middle of the unfugged piping.

Next, the pump module is a part having a pneumatic part, and the arm of the drive module or the support module is folded into the drive module or the support module, and the wheel and the module are connected so that the operation can be extended to the outside of the drive module or the support module .

Next, the support module is almost identical in configuration to the drive module, but may be a drive module if there is an in-wheel structure and a support module if there is no in-wheel structure. Needless to say, it is possible to make a difference in configuration according to the intention of the robot designer or the request of the robot user.

As shown in FIG. 4, when the unfedged pipe is moved through the support module, it plays a role of supporting the pipe. However, it is possible to perform the function of the distance measuring system of the unfugged pipe flawing robot capable of the emergency structure according to the preferred embodiment of the present invention by using the number of rotations of the wheel of the support module. Through this, it is possible to predict or estimate the position where the unfugged piping robot stops at the emergency structure described below, that is, the current position requiring the emergency structure.

Next, the NDE module (Non-Destructive Examinations Module) is a component equipped with various sensors for non-destructive inspection. The NDE module is a non-destructive inspection technique using known sensors commonly known to NDE sensors, that is, radiation or ultrasonic waves Can be used.

FIG. 5 is a view showing a joint of an unfugged pipe firing robot capable of emergency structure according to a preferred embodiment of the present invention, and may be configured in at least one of the modules described above.

As shown in Fig. 5, a roll, a yaw, a roll, and a pitch are possible through two motors, a power transmitting portion, and a bevel gear.

FIG. 6 is a view showing a state in which the joints (joints) between different modules are controlled so that the arms provided in the different modules of the unfugged pipe firing robot capable of the emergency structure according to the preferred embodiment of the present invention are different from each other by 90 degrees, In which two arms are provided in the piping, it is necessary to form three arms in the conventional module, as shown in the figure, so that it is possible to firmly support the piping, It is possible to solve this problem through an algorithm that controls the joint structure even with arms.

FIG. 7 is a view showing a pneumatic joint (joint part) of an unfugged pipe firing robot capable of an emergency structure according to a preferred embodiment of the present invention, and FIG. 8 is a cross- (Joint part) of a bell pipe flaw detection robot and a technique for solving the problem.

However, as shown in Fig. 7, it is possible to form a double-axis steerable pneumatic cylinder using two pneumatic cylinders and two wires, It is possible to construct a joint.

More specifically, the pneumatic joint has a two-axis joint having first left and right connection bars connected respectively to left and right sides of the first-a-th wire and first-b wire, and second left and right connection bars respectively connected to left and right sides of the second- center; A first 1a piston, a first b piston, a 2a 2a piston and a 2bb piston connected to the first 1a wire, the first b wire, the 2a wire and the 2b wire, respectively; A first pneumatic cylinder, a second pneumatic cylinder, and a second pneumatic cylinder that provide pneumatic pressures to the first 1a piston, the first b piston, the 2a piston, and the second b piston, respectively.

Furthermore, it is preferable that the first left connecting bars and the second left connecting bars are orthogonal to each other. Although the first left and right connection bars and the second left and right connection bars are not orthogonal to each other, a joint structure capable of biaxial control can be formed through the control, but the control is easier if they are orthogonal to each other.

In addition, the pneumatic joint part can be provided with a restoring spring at the center of the biaxial joint for preventing the restoration of the rotation angle over a certain angle by the rotation frictional force.

This has a problem in that it can not be restored at a certain angle in a conventional pneumatic joint (joint part), and it is possible to additionally provide a restoring spring at the center of the biaxial joint in order to solve a part where rotation angle can not be restored by the rotational friction force .

In order to realize such a pneumatic joint, it is easy to implement a robot equipped with an emergency structure function of the unfugged pipe fusing robot because the unfugged pipe fusing robot has a pneumatic part (pump module).

Specifically, FIGS. 9 and 10 are views showing a state of using a restoration spring in a two-port system as one of the emergency rescue methods of an unfugged pipe firing robot capable of an emergency structure according to a preferred embodiment of the present invention.

As shown in Figs. 9 and 10, when the arm is folded, the drive wheel is located in the housing in the module and the drive wheel is located below the auxiliary wheel, so that it does not touch the wall surface. In this case, The surface support wheel supports the wall surface. Further, when the pneumatic pressure is discharged, the structure in which the arm is folded by the restoring spring can be easily seen from Fig. In this case, it is possible to use a two-port solenoid valve.

11 to 13 illustrate an emergency structure of an unfugged piping robot according to a preferred embodiment of the present invention. In the three-port system, a normal position of a solenoid valve is utilized. Fig.

As shown in Figs. 11 to 13, a three-port pneumatic solenoid valve for controlling the arm is provided. The three ports include a P port for pneumatic pressure input, an A port for folding the arm when power is not supplied, And a B port for allowing the arm to be deployed when the power is turned on, and is switched to the B port only when power is applied, and is always fixed to the A port when power is not supplied.

A normally open type valve is installed in the tank of the pneumatic part to automatically exhaust the air pressure when the power is cut off. Conversely, when the power source is applied, the pneumatic section (air pressure tank) is sealed. As shown in FIG. 12, when one end of a module of a pneumatic unit, for example, a module of both ends is a camera module, a pipe is connected to the camera module so that an exhaust valve is installed at the end of the camera module, So that the pneumatic section (pneumatic tank) is exhausted.

The robot equipped with the emergency structure function of the unfugged pipe flaw detection robot having the above structure will be described in the first to third embodiments below.

The unfugged pipe firing robot capable of the emergency structure according to the present invention causes deterioration, corrosion and settling phenomenon with the passage of time, such as gas piping, so as to lower the flow of the fluid flowing in the pipe, A robot for detecting and detecting a problem of piping such as corrosion, defects or defects of piping which may lead to an accident such as an accident or the like. It is a robot capable of rescuing urgently when the operation is stopped in the piping.

(Embodiment 1)

The unfugged piping robot according to the present invention has a plurality of modules; At least one joint disposed between the plurality of modules; A driving unit provided in at least one of the plurality of modules; A wheel provided on the plurality of modules for traveling the inner surface of the pipe; An arm connecting the wheel and the plurality of modules such that the wheel is folded into the module by pneumatic pressure and unfolded out of the module; A pneumatic portion for providing pneumatic pressure such that the arm can be folded and unfolded with respect to the plurality of modules; And an emergency structure unit provided in at least one of the plurality of modules.

The plurality of modules may be a combination of the vision module, the drive module, the battery module, the pump module, the NDE module, and the support module described above. Preferably, it comprises a vision module, a drive module, a battery module, and a pump module. 1, an NDE module and a support module may be optionally additionally provided. In the case where the NDE module is omitted in FIG. 1, the support module may be omitted. In this case, the battery module is positioned between the drive modules shown in FIG. can do.

Here, the joint part may be a biaxially controllable joint as described above, and the wheel or arm may be installed in a drive module, a support module, or the like. The pneumatic portion is generally attached to the pump module, but may also be attached to other modules.

The plurality of modules described above may be a combination of two or more modules. For example, the vision module and the battery module may be configured as a single module.

In addition, it is preferable that the emergency structure unit includes a pneumatic discharge unit for discharging the pneumatic pressure of the pneumatic unit according to an external operation (operation of a human operator or a structural robot).

The external operation may be an operation of pushing part or all of the terminal for pneumatic discharge, pressing part or all of the terminal, pulling out part or all of the terminal, or rotating part or all of the terminal It may be a combination of these actions.

It is preferable that the emergency structure unit is provided in each of the modules at both ends of the plurality of modules or at each of the modules at both ends of the plurality of modules.

At least one of the plurality of modules may include a communication unit for communicating with the outside of the piping, and the communication unit may transmit an emergency rescue signal to the outside of the piping if an urgent structure of the unfedged piping robot is required It is preferable to transmit.

FIG. 9 is a view showing a state in which a restoration spring is used in a two-port system as one of the emergency rescue methods of an unfugged pipe firing robot capable of an emergency structure according to a preferred embodiment of the present invention.

As shown in Fig. 9, when the arm is folded, the drive wheel is located in the housing in the module, and the drive wheel is positioned below the auxiliary wheel and therefore does not touch the wall. In this case, This structure supports the wall. Further, when the pneumatic pressure is discharged, the structure in which the arm is folded by the restoring spring can be easily seen from Fig.

(Second Embodiment)

Meanwhile, the emergency structure method of the unfugged pipe flawing robot according to the present invention includes: a plurality of modules; At least one joint disposed between the plurality of modules; A driving unit provided in at least one of the plurality of modules; A wheel provided on the plurality of modules for traveling the inner surface of the pipe; An arm connecting the wheel and the plurality of modules such that the wheel is folded into the module by pneumatic pressure and unfolded out of the module; A pneumatic portion for providing pneumatic pressure such that the arm can be folded and unfolded with respect to the plurality of modules; And an emergency structure provided in at least one module of the plurality of modules, the method comprising the steps of: operating the emergency structure to perform an emergency rescue step of the unfugaed piping robot; do.

In addition, it is preferable that the emergency structure step is a step of operating a pneumatic discharge unit to discharge the pneumatic pressure of the pneumatic unit according to an external operation.

The external operation may be an operation of pushing part or all of the terminal for pneumatic discharge, pressing part or all of the terminal, pulling out part or all of the terminal, or rotating part or all of the terminal It may be a combination of these actions.

It is preferable that the emergency structure unit is provided in each of the modules at both ends of the plurality of modules or at each of the modules at both ends of the plurality of modules.

Further, in order to communicate with the outside of the piping, when an urgent structure of the unfugaed piping robot is required through a communication unit provided in at least one of the plurality of modules, an emergency rescue signal is transmitted to the outside of the piping Step < / RTI >

The description of some of the parts already described in the description of the first embodiment is omitted in the second embodiment.

(Third Embodiment)

Meanwhile, the robot for constructing the unfugged pipe flawing robot according to the present invention includes: a plurality of modules; At least one joint disposed between the plurality of modules; A driving unit provided in at least one of the plurality of modules; A wheel provided on the plurality of modules for traveling the inner surface of the pipe; An arm connecting the wheel and the plurality of modules such that the wheel is folded into the module by pneumatic pressure and unfolded out of the module; A pneumatic portion for providing pneumatic pressure such that the arm can be folded and unfolded with respect to the plurality of modules; And an emergency structure provided on at least one module of the plurality of modules, wherein the emergency robot includes: a pneumatic pressure discharge unit that operates the pneumatic discharge unit to discharge the pneumatic pressure of the pneumatic unit, And an induction portion.

The pneumatic discharge guide may be an operation for pushing part or all of the terminal for pneumatic discharge, pressing part or all of the terminal, pulling out part or all of the terminal, or rotating part or all of the terminal It is preferable to execute a combination of these operations.

In addition, the pneumatic discharge guide portion and the pneumatic discharge portion are formed to have male and female structures, and the pneumatic pressure of the pneumatic discharge portion can be discharged by the mutual coupling.

Further, the emergency structure section is provided in each of the modules at both ends of the plurality of modules or at each of the modules at both ends of the plurality of modules, so that the structural robot moves through the piping, It is possible for the pneumatic discharge guide portion and the pneumatic discharge portion to automatically operate by the moving force.

With the above-described configuration, it is possible to overcome the disadvantages of the prior art which is difficult to remove when the robot is stopped in a state where the arms (legs and arms) are firmly pushed into the piping. When the arm is operated with air cylinders, It is possible to obtain a slightly flexible structure. Furthermore, in case of an emergency, it is possible to remove the air pressure so that the arm is released from the force, and then the emergency structure can be promptly executed.

The description of parts of the parts already described in the description of the first and second embodiments is omitted in the third embodiment.

While the present invention has been particularly shown and described with reference to exemplary embodiments thereof, it is to be understood that the invention is not limited to the disclosed exemplary embodiments. It is to be understood that various modifications and changes may be made without departing from the scope of the appended claims.

Claims (17)

A plurality of modules;
At least one joint disposed between the plurality of modules;
A driving unit provided in at least one of the plurality of modules;
A wheel provided on at least one of the plurality of modules for running the inner surface of the pipe;
An arm connecting the wheel and the plurality of modules such that the wheel is folded into the module by pneumatic pressure and unfolded out of the module;
A pneumatic portion for providing pneumatic pressure such that the arm can be folded and unfolded with respect to the plurality of modules; And
And an emergency structure unit provided in at least one of the plurality of modules,
Wherein the emergency structure comprises a pneumatic discharge unit for discharging the pneumatic pressure of the pneumatic unit according to an external operation,
An unfugged piping robot capable of emergency rescue.
delete The method according to claim 1,
The external operation may be an operation of pushing part or all of the terminal for pneumatic discharge, pressing part or all of the terminal, pulling part or all of the terminal, or rotating part or all of the terminal, or And a combination of these operations.
An unfugged piping robot capable of emergency rescue.
The method of claim 3,
And a restoring spring for allowing the arm to be folded with respect to the module while the pneumatic pressure of the pneumatic portion is discharged by the external operation is located inside the module.
An unfugged piping robot capable of emergency rescue.
The method of claim 3,
And a three-port pneumatic solenoid valve for controlling the arm,
The three ports include a P port for pneumatic entry and exit, an A port for folding the arm when the power is not supplied, and a B port for allowing the arm to be deployed when power is applied,
And when the power source is not turned on, it is always fixed to the A port.
An unfugged piping robot capable of emergency rescue.
The method of claim 3,
Wherein the emergency structure unit is provided at each of the modules at both ends of the plurality of modules or at each of the modules at both ends of the plurality of modules.
An unfugged piping robot capable of emergency rescue.
The method according to claim 6,
Wherein at least one of the plurality of modules includes a communication unit for communicating with the outside of the piping,
Wherein the communication unit transmits an emergency rescue signal to the outside of the pipeline when an emergency structure of the unfedged piping robot is required,
An unfugged piping robot capable of emergency rescue.
A method for emergency structural unfugged bell-jig robot according to any one of claims 1 and 3,
Wherein the emergency structure section is operated to perform emergency rescue operation of the unfugged pipe flawing robot.
9. The method of claim 8,
Wherein the urgent structure step is a step of operating a pneumatic discharge unit for discharging the pneumatic pressure of the pneumatic unit according to an external operation.
An emergency rescue method for unfugged piping robots.
10. The method of claim 9,
The external operation may be an operation of pushing part or all of the terminal for pneumatic discharge, pressing part or all of the terminal, pulling part or all of the terminal, or rotating part or all of the terminal, or And a combination of these operations.
An emergency rescue method for unfugged piping robots.
11. The method of claim 10,
Wherein the emergency structure unit is provided at each of the modules at both ends of the plurality of modules or at each of the modules at both ends of the plurality of modules.
An emergency rescue method for unfugged piping robots.
12. The method of claim 11,
And transmitting an emergency rescue signal to the outside of the piping, when an emergency structure of the unfedged piping robot is required, through a communication unit provided in at least one of the plurality of modules, for communication with the outside of the piping Further included,
An emergency rescue method for unfugged piping robots.
A robot for constructing an unfedged pipe firing robot capable of an emergency structure according to any one of claims 1 and 3 to 7,
And a pneumatic discharge guide portion for operating the pneumatic discharge portion to discharge the pneumatic pressure of the pneumatic portion.
Structured Robot of Unfugged Pipeline Inspection Robot.
14. The method of claim 13,
The pneumatic discharge guide may be an operation of pushing part or all of the terminal for pneumatic discharge, pressing part or all of the terminal, pulling part or all of the terminal, or rotating part or all of the terminal, or And a combination of these operations is executed.
Structured Robot of Unfugged Pipeline Inspection Robot.
14. The method of claim 13,
Wherein the pneumatic discharge guide portion and the pneumatic discharge portion are formed to have male and female structures,
Structured Robot of Unfugged Pipeline Inspection Robot.
16. The method of claim 15,
Wherein the emergency structure unit is provided at either one of the modules at both ends of the plurality of modules or at each of the modules at both ends of the plurality of modules,
Wherein the pneumatic pressure discharge unit and the pneumatic discharge unit are capable of automatically operating by the moving force when the structural robot meets the unfugged pipeline trolling robot while moving through the piping,
Structured Robot of Unfugged Pipeline Inspection Robot.
14. The method of claim 13,
And an emergency structure is performed when communication of the communication unit is disconnected.
Structured Robot of Unfugged Pipeline Inspection Robot.

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