KR101641704B1 - Sensing unit of pipe inspection robot and sensing module of pipe inspection robot comprised of the sensing unit - Google Patents

Sensing unit of pipe inspection robot and sensing module of pipe inspection robot comprised of the sensing unit Download PDF

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Publication number
KR101641704B1
KR101641704B1 KR1020150170827A KR20150170827A KR101641704B1 KR 101641704 B1 KR101641704 B1 KR 101641704B1 KR 1020150170827 A KR1020150170827 A KR 1020150170827A KR 20150170827 A KR20150170827 A KR 20150170827A KR 101641704 B1 KR101641704 B1 KR 101641704B1
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KR
South Korea
Prior art keywords
roller
moving direction
cradle
sensing unit
inspection robot
Prior art date
Application number
KR1020150170827A
Other languages
Korean (ko)
Inventor
노용우
유휘용
구성자
조성호
김동규
유정수
김학준
박재하
김대광
정해교
Original Assignee
한국가스공사
성균관대학교산학협력단
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Priority to KR1020150170827A priority Critical patent/KR101641704B1/en
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Publication of KR101641704B1 publication Critical patent/KR101641704B1/en

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    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01N—INVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES
    • G01N27/00—Investigating or analysing materials by the use of electric, electrochemical, or magnetic means
    • G01N27/72—Investigating or analysing materials by the use of electric, electrochemical, or magnetic means by investigating magnetic variables
    • G01N27/82—Investigating or analysing materials by the use of electric, electrochemical, or magnetic means by investigating magnetic variables for investigating the presence of flaws
    • G01N27/90—Investigating or analysing materials by the use of electric, electrochemical, or magnetic means by investigating magnetic variables for investigating the presence of flaws using eddy currents
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J11/00—Manipulators not otherwise provided for
    • B25J11/008—Manipulators for service tasks
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
    • B25J19/02—Sensing devices
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J5/00—Manipulators mounted on wheels or on carriages
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16L—PIPES; JOINTS OR FITTINGS FOR PIPES; SUPPORTS FOR PIPES, CABLES OR PROTECTIVE TUBING; MEANS FOR THERMAL INSULATION IN GENERAL
    • F16L55/00—Devices or appurtenances for use in, or in connection with, pipes or pipe systems
    • F16L55/26—Pigs or moles, i.e. devices movable in a pipe or conduit with or without self-contained propulsion means
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
    • G01B7/00—Measuring arrangements characterised by the use of electric or magnetic techniques
    • G01B7/02—Measuring arrangements characterised by the use of electric or magnetic techniques for measuring length, width or thickness
    • G01B7/06—Measuring arrangements characterised by the use of electric or magnetic techniques for measuring length, width or thickness for measuring thickness
    • G01B7/10—Measuring arrangements characterised by the use of electric or magnetic techniques for measuring length, width or thickness for measuring thickness using magnetic means, e.g. by measuring change of reluctance
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01N—INVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES
    • G01N27/00—Investigating or analysing materials by the use of electric, electrochemical, or magnetic means
    • G01N27/72—Investigating or analysing materials by the use of electric, electrochemical, or magnetic means by investigating magnetic variables
    • G01N27/82—Investigating or analysing materials by the use of electric, electrochemical, or magnetic means by investigating magnetic variables for investigating the presence of flaws
    • G01N27/90—Investigating or analysing materials by the use of electric, electrochemical, or magnetic means by investigating magnetic variables for investigating the presence of flaws using eddy currents
    • G01N27/9013—Arrangements for scanning
    • G01N27/902—Arrangements for scanning by moving the sensors
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16L—PIPES; JOINTS OR FITTINGS FOR PIPES; SUPPORTS FOR PIPES, CABLES OR PROTECTIVE TUBING; MEANS FOR THERMAL INSULATION IN GENERAL
    • F16L2101/00—Uses or applications of pigs or moles
    • F16L2101/30—Inspecting, measuring or testing

Abstract

The present invention relates to a sensing unit of a pipe inspection robot, allowing the pipe inspection robot to smoothly pass a stepped portion on a pipe inner wall both in a forward and a backward movement, using a first and a second inclined portion formed on both ends of a holder and a roller unit. According to an embodiment of the present invention, a sensing module of the pipe inspection robot is provided with a substrate comprising A/D converters on each of a plurality of sensing units, to efficiently convert an analog signal detected by a coil sensor into a digital signal. The sensing unit of the pipe inspection robot comprises: a base; a holder including a first inclined portion and a second inclined portion, with a flat portion in a center of a top surface; a roller unit including a first roller on the first inclined portion and a second roller on the second inclined portion; and a coil sensing unit with at least one coil sensor, connected to a mounting groove formed in the center of the flat portion of the holder.

Description

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a sensing module for a piping inspection robot including a sensing unit of a piping inspection robot and a sensing unit of the piping inspection robot,

The present invention relates to a sensing unit of a piping inspection robot and a sensing module of a piping inspection robot composed of the sensing unit.

The piping may corrode over time and may be damaged depending on the surrounding environment. In order to prevent the accident from occurring, it is necessary to periodically check the condition of the piping. However, if the piping is buried in the ground or the fluid always flows inside it, the piping should be checked so that the condition of the piping can be checked without detaching the piping.

For this purpose, intelligent pigs are used to ascertain the state of the piping by advancing the piggybee with the flow of fluid flowing through the piping, and an unfigured self-propelled robot for application to piping that can not advance the pig due to low fluid pressure Is being developed. These intelligent pig or unfigured self-propelled robots use non-destructive testing techniques to measure the thickness and defects of piping. The non-destructive testing techniques used include magnetic flux leakage, eddy current inspection Method, and Remote Field Eddy Current Testing.

On the other hand, in order to measure the thickness, defect, etc. of the piping by using the nondestructive inspection technique, the sensing unit for detecting a signal that varies depending on the thickness of the piping, etc., must be closely attached to the inner peripheral surface of the piping. However, since there is a step inside the piping due to the use of pipes of different thicknesses in the actual piping, etc., the sensing unit of the piping inspection robot can not pass the piping part where the step exists, It is necessary to have structure that can be.

The number of sensing units corresponding to the inner wall of the pipe is increased in order to measure the thickness and defects of the pipe having a large diameter. Therefore, the sensing module of the pipe inspection robot can efficiently process the signal detected from the sensing unit It is necessary to have a structure.

KR 10-1491416 B1

In an embodiment of the present invention, the first and second slopes and the roller portion formed at both ends of the cradle are used to detect the position of the piping inspection robot, which can smoothly pass over the steps existing on the inner wall of the piping, Sensing unit,

Another embodiment of the present invention provides a sensing module of a piping inspection robot capable of efficiently converting an analog signal detected from a coil sensor into a digital signal by forming a substrate including an A / D converter in each of a plurality of sensing units .

A sensing unit of a piping inspection robot according to an embodiment of the present invention includes a base; A first inclined portion which is elastically supported by a link portion coupled to an upper portion of the base and whose upper surface has a central flat portion, a first inclined portion extending from one end of the flat portion and inclined downward in a first moving direction, And a second inclined portion extending from the other end and inclined downward in a second moving direction opposite to the first moving direction; A first roller coupled to a first coupling groove formed on an upper surface of the first inclined portion to be rotatable in the first and second moving directions and partially protruding from an upper surface of the first inclined portion, And a second roller coupled to the second coupling groove formed on the upper side of the upper portion and rotatably coupled in the first and second moving directions and partially protruding from the upper surface of the second inclined portion; And a coil sensing unit coupled to the mounting recess formed at the center of the flat portion of the cradle and including at least one coil sensor.

In the sensing unit of the piping inspection robot according to an embodiment of the present invention, the first inclined portion extends from one end of the flat portion and is inclined to a lower side of the cradle in the first movement direction, and the second inclined portion And extend from the other end of the flat portion to the lower end of the cradle so as to be inclined downward in the second moving direction.

In the sensing unit of the piping inspection robot according to an embodiment of the present invention, the first inclined portion may extend from one end of the flat portion and be inclined downward in the first moving direction, and the first roller may be coupled to the upper surface A first upper inclined surface in which the first engaging groove is formed inward; And a first lower inclined surface extending from the first upper inclined surface and inclined to a lower portion of the first moving direction from the lower end of the cradle to the lower end of the cradle, the second inclined portion extending from the other end of the flat portion, A second upper inclined surface inclined to a lower side of the first engaging groove and having the second engaging groove formed inward so that the second roller can be engaged with the upper surface; And a second lower inclined surface extending from the second upper inclined surface and inclined to a lower portion of the second moving direction to a lower end of the cradle, wherein a slope of the first and second upper inclined surfaces is smaller than a slope of the first and second upper inclined surfaces, It may be more gentle than the inclination of the lower inclined plane.

In the sensing unit of the piping inspection robot according to an embodiment of the present invention, the link portion is rotatably coupled to one end of the upper surface of the base in the first movement direction, and is connected to one end of the lower surface of the cradle in the first movement direction A first link member including a first support link for supporting the first support link and a first elastic link for elastically supporting the first support link in an upward direction through a first elastic member rotatably coupled to the center of the base and formed on an outer circumferential surface; And a second support link rotatably coupled to the upper surface of the base at the other end in the second movement direction and supporting the other end of the lower surface of the cradle in the second movement direction, And a second link member including a second elastic link for elastically supporting the second support link in an upward direction through a second elastic member, wherein the first link member and the second link member are arranged so that the cradle It can be elastically supported.

In the sensing unit of the piping inspection robot according to an embodiment of the present invention, the first and second rollers of the roller portion may protrude below the radius of the first and second rollers with respect to the upper surface of the first and second slopes .

In the sensing unit of the piping inspection robot according to an embodiment of the present invention, the first and second rollers of the roller portion may protrude further than the extension of the flat portion and may contact the inner wall of the pipe.

The sensing module of the piping inspection robot according to another embodiment of the present invention includes a base and a link portion coupled to an upper portion of the base, the sensor module being elastically supported in an upper direction, the upper surface of the sensing module extending from a center flat portion and one end of the flat portion A cradle including a first inclined portion inclined downward in the first moving direction and a second inclined portion extending from the other end of the flat portion and inclined downward in a second moving direction opposite to the first moving direction, A first roller coupled to a first coupling groove formed on an upper surface of the first inclined portion to be rotatable in the first and second moving directions and partially protruding from the upper surface of the first inclined portion, And a second roller coupled to the second engaging groove formed in the second engaging groove to be rotatable in the first and second moving directions and partially protruding from the upper surface of the second angled portion, And a coil sensing part coupled to a mounting groove formed at the center of the flat part of the cradle and including at least one coil sensor is disposed in the radial direction As shown in FIG.

In the sensing module of the piping inspection robot according to another embodiment of the present invention, the coil sensing part may be formed obliquely with respect to the first and second moving directions, and may be bent to correspond to the inner wall of the pipe.

In the sensing module of the piping inspection robot according to another embodiment of the present invention, the coil sensing unit may include at least one coil sensor; A substrate formed on a lower end of the coil sensor and electrically connected to the coil sensor; And a case for receiving the coil sensor and the substrate, wherein the substrate is provided with an A / D converter for directly converting the analog signal detected from the coil sensor into a digital signal.

The features and advantages of the present invention will become more apparent from the following detailed description based on the accompanying drawings.

Prior to this, terms and words used in the present specification and claims should not be construed in a conventional and dictionary sense, and the inventor may appropriately define the concept of a term in order to best describe its invention The present invention should be construed in accordance with the spirit and scope of the present invention.

According to an embodiment of the present invention, the sensing unit includes a first and second inclined portions formed at both ends of the cradle in the first and second moving directions, so that the step existing in the piping can be moved not only in the first moving direction, So that it is possible to pass smoothly.

In addition, the first and second inclined portions can be inclined from both ends of the flat portion to the lower end portion of the cradle, and the sensing unit can pass the step inside the piping within the height of the cradle.

The inclination of the first and second upper inclined surfaces is gentler than the inclination of the first and second lower inclined surfaces so that even if the inclination of the first and second inclined surfaces increases gradually as the table is gradually tilted as it passes the step of the pipe, There is an effect that the step can be passed smoothly.

Further, since the cradle can be inclined as the first link member and the second link member elastically support the cradle independently of each other, even if the force in the downward direction applied to the cradle is small, .

Further, the sensing unit includes a roller portion coupled to the first and second engagement grooves of the first and second inclined portions, so that the sensing unit can smoothly travel in the pipe.

The protruding height of the roller portion can be less than the radius of the first and second rollers. Even if the radius of the first and second rollers is large, the first and second rollers do not interfere with the step of the pipe, There is an effect that it can pass through.

Further, the protrusions of the first and second rollers protrude more than the extension of the flat portion, so that the first and second rollers can be brought into contact with the inner wall of the pipe, and when the stepped portion of the pipe runs, the roller contacts the inner wall of the pipe The sensing unit can smoothly run the piping.

According to another embodiment of the present invention, the sensing module is formed of a plurality of sensing units, and each of the coil sensing parts of the sensing unit is formed obliquely with respect to the first and second moving directions, so that even in the space between the sensing units, There is an effect that the change or defect can be measured.

In addition, since a substrate on which an A / D converter is formed at the coil sensor bottom is formed for each coil sensing unit, a plurality of analog signals can be simultaneously converted into digital signals, and analog signals are converted into digital signals, There is an effect that the intervention of the user can be minimized.

BRIEF DESCRIPTION OF THE DRAWINGS FIG. 1 is a view showing an entire piping inspection robot according to an embodiment of the present invention; FIG.
2 is a partially exploded perspective view of a sensing unit of a piping inspection robot according to an embodiment of the present invention;
3 is a side view of a sensing unit of a piping inspection robot according to an embodiment of the present invention;
FIGS. 4A and 4B are side views of a sensing unit of a piping inspection robot according to an embodiment of the present invention when the sensing unit passes through and after passing through a step in the piping; FIG.
5 is a perspective view and a partial enlarged view of a sensing module of a piping inspection robot according to another embodiment of the present invention.

BRIEF DESCRIPTION OF THE DRAWINGS The objectives, specific advantages and novel features of the present invention will become more apparent from the following detailed description taken in conjunction with the accompanying drawings, in which: FIG.

It should be noted that the reference numerals are added to the components of the drawings in the present specification with the same numerals as possible, even if they are displayed on different drawings, for the same components.

Also, the terms " one side, " " first, " " first, " " second, " and the like are used to distinguish one element from another, no. Specifically, the "first moving direction" described herein refers to the direction in which the pipe inspection robot 1 moves forward within the pipe, that is, the left arrow direction shown in FIG. 3, and the "second moving direction" Refers to the direction of movement of the inside of the pipe 1 backward, that is, the right arrow direction shown in Fig.

Hereinafter, one embodiment of the sensing unit 10B of the piping inspection robot 1 of the present invention will be described in detail with reference to the accompanying drawings. Meanwhile, the present invention can be applied not only to an unfigured self-propelled robotic system but also to an intelligent pig system and can be applied to various nondestructive inspection techniques. However, an embodiment of the present invention is applicable to an unfigured self propelling robot and a remote field eddy- .

FIG. 1 is a view showing an entire piping inspection robot 1 according to an embodiment of the present invention.

1, the piping inspection robot 1 includes a self-propelled robot module 2, a sensing unit 8, and a controller 6. As shown in Fig.

The self propelling robot module 2 includes a driver module 3 and is formed on the front and rear of the piping inspection robot 1 to pull the entire piping inspection robot 1 forward or backward inside the piping. The self-propelled robotic module 2 includes a battery module 4 and supplies power necessary for the operation of the piping inspection robot 1. The self-propelled robot module 2 can include the camera module 5, The state change information including information on the presence or absence of an obstacle, a path of a pipe, and the presence or absence of a branch.

The sensing unit 8 generates a magnetic field inside the pipe by outputting a reference signal including the exciter 9 and having a preset amplitude and frequency, and includes a sensing module 10A, And detects the change of the eddy current propagation time according to the thickness variation. The sensing module 10A is formed in the radial direction so as to correspond to the inner wall of the pipe of the plurality of sensing units 10B. On the other hand, the sensing unit 10B must be in close contact with the inner wall of the pipe even if the diameter of the pipe is changed in order to accurately detect the change of the eddy current propagation time. The sensing unit 10B, do.

The controller 6 generates thickness change information of the pipe on the basis of a change in the propagation time of the eddy current detected from the sensing unit 8 and detects the operation of the pipe inspection robot 1 based on the state change information in the pipe The state can be controlled.

Each module, the sensing unit 8 and the controller 6 are connected to the joint module 7 so that the pipe inspection robot 1 can be refracted for each joint module 7. [

On the other hand, the piping inspection robot 1 travels not only forward but also backward, and the sensing unit 10B of the piping inspection robot 1, which is closely attached to the piping inner wall, It is necessary to have a structure capable of not only the moving direction but also the second moving direction which is the backward direction. Therefore, the sensing unit 10B of the pipe inspection robot 1 according to the embodiment of the present invention, which can pass the step inside the pipe in the first movement direction as well as the second movement direction, do.

FIG. 2 is a partially exploded perspective view of a sensing unit 10B of a piping inspection robot 1 according to an embodiment of the present invention. FIG. 3 is a perspective view of a sensing unit 10B of a piping inspection robot 1 according to an embodiment of the present invention. 4A and 4B are side views of the sensing unit 10B of the pipe inspection robot 1 according to an embodiment of the present invention when the sensing unit 10B passes through and passes through a step in the pipe.

2 to 4, the sensing unit 10B of the piping inspection robot 1 according to an embodiment of the present invention includes a base 20, a link unit (not shown) coupled to the upper portion of the base 20, And a first inclined portion 32 extending from one end of the flat portion 31 and inclined downward in the first moving direction, And a second inclined portion (33) extending from the other end of the flat portion (31) and inclined downward in a second moving direction opposite to the first moving direction; a first inclined portion 32), and is coupled to the first engaging groove 32c so as to be rotatable in the first and second moving directions. The first roller 32, which is partly protruded from the upper surface of the first inclined portion 32, (51) and a second engaging groove (33c) formed on the upper surface of the second inclined portion (33) A roller portion 50 including a second roller 52 partially engaged with the upper surface of the second inclined portion 33 and a mounting portion formed at the center of the flat portion 31 of the mounting table 30, And a coil sensing part (60) coupled to the groove (31a) and including at least one coil sensor (61), so that the steps existing in the piping can be flexed not only in the first movement direction but also in the second movement direction It can pass.

The base 20 is a portion to which the joint module is coupled to connect the sensing unit 10B to the adjoining module in the piping inspection robot 1. The base 20 is a self-propelled robot mounted on the front and rear of the piping inspection robot 1, Is pulled to the module 2 (see Fig. 1) and pulled in the first moving direction or the second moving direction. 2, the base 20 supports a link portion 40 and a cradle 30 to be described later. The base 20 is a plate-like member formed long along the first movement direction and the second movement direction Lt; / RTI > However, the specific shape of the base 20 is not limited to the plate-like shape, but may be variously formed.

The holder 30 supports the coil sensing portion 8 so that a coil sensing portion 8 to be described later is brought into close contact with the inner wall of the pipe. . Accordingly, when the downward force acts on the mount table 30, the mount table 30 can be moved downward to some extent by the elasticity of the link unit 40. [

The upper surface of the holder 30 is extended from both ends of the central flat portion 31 and the flat portion 31 so that a downward force can be applied to the holder 30 when passing through the stepped portion inside the piping The first and second inclined portions 32 and 33 may be formed. At this time, as shown in Figs. 2 to 4, the first inclined portion 32 is tilted to the lower side of the first moving direction, so that the first inclined portion 32 is inclined at a step that exists when the pipe inspection robot 1 travels in the first moving direction And the second inclined portion 33 is inclined to the lower side of the second moving direction so that the pipe inspection robot 1 can pass through the step present in traveling in the second moving direction. That is, the sensing unit 10B of the pipe inspection robot 1 can pass through the step existing in the pipe even in the first movement direction and the second movement direction by the first and second inclined portions 32 and 33 have.

The first and second inclined portions 32 and 33 may be formed only in a predetermined region of the upper portion of the cradle 30. However, as shown in Figs. 2 to 4, To the lower end. That is, the first inclined portion 32 may extend from one end of the flat portion 31 and be inclined downward in the first moving direction to the lower end portion of the mount 30, and the second inclined portion 33 may be inclined to the flat portion 31 And can be inclined downwardly in the second moving direction from the lower end of the holder 30 to the lower end thereof. Accordingly, the sensing unit 10B of the piping inspection robot 1 can pass through the step inside the pipe within the height of the platform 30. [ The vertical length of the first and second inclined portions 32 and 33 is not limited to this and may extend further downward than the lower end portion of the holder 30. [

On the other hand, the first and second inclined portions 32 and 33 may be composed of one inclined surface having a single inclination as a whole, and may be composed of a plurality of inclined surfaces having different inclination. In the latter case, the first inclined portion 32 extends from one end of the flat portion 31 and is inclined to the lower side in the first moving direction, and the first roller 51 is engaged with the first engaging groove 32c May include a first upper inclined surface 32a formed inwardly and a first lower inclined surface 32b extending from the first upper inclined surface 32a and inclined downwardly in the first direction of movement from the lower end of the cradle 30 have. In this case, the inclination of the first upper inclined surface 32a is formed more gently than the inclination of the first lower inclined surface 32b. Thus, the sensing unit 10B of the piping inspection robot 1 can pass the larger stepped portion in the pipe, since the first lower inclined surface 32b has a greater height at a limited length. Further, as the step in the piping passes through the step in the piping and the upper part of the first inclined part 32 contacts, the inclination of the first inclined part 32 can be raised by inclining the cradle 30, The inclination of the inclined surface 32a can be configured to be gentle so that the step within the pipe can be smoothly passed though the inclination of the first inclined portion 32 is raised. On the other hand, the second inclined portion 33 also extends from the other end of the flat portion 31 to be inclined downward in the second moving direction, corresponding to the first inclined portion 32, and the second roller 52 The second upper inclined surface 33a and the second upper inclined surface 33a are formed so that the second engaging groove 33c is inwardly formed so as to be joined to the lower end of the mount 30, And in this case, the inclination of the second upper inclined face 33a may be more gentle than the inclination of the second lower inclined face 33b. The inclination of the first and second inclined portions 32 and 33 is not limited to this, but may be a curve in which the inclination becomes gentler toward the upper portion.

The link portion 40 that elastically supports the holder 30 in the upward direction may include a first link member 41 and a second link member 42 and may include a first link member 41 and a second link member 42. [ The member (42) can elastically support the holder (30) independently of each other. The support base 30 can be inclined by the mutually independent elastic supports of the first link member 41 and the second link member 42 so that even if the force in the downward direction applied to the base 30 is small, Can pass smoothly. Specifically, the first link member 41 is rotatably coupled to one end of the upper surface of the base 20 in the first moving direction and rotatably supports the first support link 41a supporting one end of the lower surface of the mount 30 in the first movement direction, And a first elastic link 41b which is rotatably coupled to a central portion of the base 20 and elastically supports the first support link 41a in an upward direction through a first elastic member 41c formed on the outer circumferential surface thereof. The second link member 42 is rotatably coupled to the other end of the upper surface of the base 20 in the second moving direction corresponding to the first link member 41, The second support link 42a supporting the other end and the second support link 42a elastically supporting the second support link 42a in the upward direction through the second elastic member 42c rotatably coupled to the center of the base 20 and formed on the outer circumferential surface And may include a second elastic link 42b. However, the specific structure of the link portion 40 is not limited to this, and may be included in the present invention as long as the structure can elastically support the holder 30 from the base 20 in the upward direction.

The roller unit 50 includes a first roller 51 and a second roller 52 in a configuration in which the sensing unit 10B of the pipe inspection robot 1 can smoothly run in the pipe. The first roller 51 is coupled to the upper surface of the first inclined portion 32, specifically, to the first engagement groove 32c formed inwardly of the first upper inclined surface 32a of the first inclined portion 32, 1 and 2, and a part thereof protrudes from the upper surface of the first inclined portion 32. As shown in Fig. The second roller 52 is coupled to the upper surface of the second inclined portion 33, that is, the second engaging groove 33c formed inwardly of the second upper inclined surface 33a of the second inclined portion 33, 1 and 2, and a part thereof protrudes from the upper surface of the second inclined portion 33. The second inclined portion 33 is formed of a metal plate. As shown in FIGS. 2 to 4, the first and second rollers 51 and 52 may be formed as a single unit. Alternatively, the first and second rollers 51 and 52 may be formed as a plurality of units along the first and second slopes 32 and 33.

On the other hand, when the first and second rollers 51 and 52 protrude from the upper surfaces of the first and second inclined portions 32 and 33, the projecting height thereof is less than the radius of the first and second rollers 51 and 52 . Thus, even if the radii of the first and second rollers 51 and 52 are large, the first and second rollers 51 and 52 do not interfere with the step in the pipe, and the sensing unit 10B of the pipe inspection robot 1, In the case of FIG. The protrusion of the first and second rollers 51 and 52 can protrude further from the extension line border of the flat portion 31 and can be brought into contact with the inner wall of the piping so that the sensing unit 10B of the piping inspection robot 1, The roller unit 50 is brought into contact with the inner wall of the pipe so that the sensing unit 10B of the pipe inspection robot 1 can smoothly run the pipe even when passing through the stepped portion of the pipe.

2, the coil sensing part 60 is attached to an inner wall of the pipe by being coupled to a mounting groove 31a formed at the center of the flat part 31 of the mounting table 30 and is provided with at least one coil sensor 61) to detect the change of the eddy current propagation time according to the thickness variation of the pipe. Specifically, the eddy current of the pipe induced by the exciter 9 changes according to the thickness of the pipe. Then, the magnetic field induced by the eddy current changes in the remote field due to the change of the propagation time of the eddy current, and a change in the induced magnetic field induces the voltage to the coil sensor 61. Thus, the change in the thickness of the pipe can be measured by measuring the change in the voltage induced in the coil sensor 61.

On the other hand, the output signal generated by the coil sensor 61 must be converted into a digital signal as an analog signal. If the analog signal generated from the plurality of coil sensors 61 is processed by one A / D converter, a time delay occurs between the signal to be processed first and a signal to be processed later, so that the accuracy of determining the presence or absence of the pipe connection can be reduced. If the length of the wiring is long until the analog signal is converted into the digital signal, there is a high possibility that the noise factor is intervened. Hereinafter, the sensing module 10A of the piping inspection robot 1 according to another embodiment of the present invention, which can effectively process a plurality of analog signals generated from the coil sensor 61, will be described in detail. Duplicate description is omitted.

5 is a perspective view and a partially enlarged view of the sensing module 10A of the piping inspection robot 1 according to another embodiment of the present invention.

The sensing module 10A of the piping inspection robot 1 according to another embodiment of the present invention is configured such that the sensing unit 10B of the piping inspection robot 1 is arranged around the base 20 as shown in Fig. And a plurality of pipes are formed in the radial direction so as to correspond to the inner wall of the pipe. In this case, the sensing unit 10B of the piping inspection robot 1 is as described above.

On the other hand, the sensing module 10A is formed of a plurality of sensing units 10B, and the sensing unit 10B must be in close contact with the inner wall of the pipe even if the diameter of the pipe changes, so that the sensing units 10B can be separated from each other . In order to measure the thickness variation or defect of the pipe even in the space between the sensing units 10B, the coil sensing unit 60 may be formed obliquely with respect to the first and second moving directions. Further, the coil sensing part 60 may be bent so as to correspond to the bending of the inner wall of the pipe so as to be in close contact with the inner wall of the pipe.

The coil sensing unit 60 includes a plurality of sensing units 10B formed in the sensing module 10A to generate analog signals from the plurality of coil sensors 61. In order to efficiently process the analog signals, And includes a coil sensor 61 and a case 62 that is formed at the lower end of the coil sensor 61 and is electrically connected to the coil sensor 61 and a case 63 that accommodates the coil sensor 61 and the substrate 62 In this case, the substrate 62 may be provided with an A / D converter 62A for directly converting an analog signal sensed by the coil sensor 61 into a digital signal. Accordingly, the sensing module 10A of the piping inspection robot 1 can simultaneously convert an analog signal detected from the plurality of coil sensing portions 60 into a digital signal, and when the analog signal is converted into a digital signal, The intervention of the noise factor can be minimized.

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 clear that the present invention can be modified or improved.

It will be understood by those skilled in the art that various changes in form and details may be made therein without departing from the spirit and scope of the present invention as defined by the appended claims.

1: Piping Inspection Robot 2: Self Propelled Robot Module
3: Driver module 4: Battery module
5: camera module 6: controller
7: joint module 8: sensing part
9: Exciter 10A: Sensing module
10B: sensing unit
20: Base
30: cradle 31: flat portion
31a: mounting groove 32: first inclined portion
32a: first upper inclined surface 32b: first lower inclined surface
32c: first engaging groove 33: second inclined portion
33a: second upper inclined surface 33b: second lower inclined surface
33c: second coupling groove
40: link portion 41: first link member
41a: first supporting link 41b: first elastic link
41c: first elastic member 42: second link member
42a: second supporting link 42b: second elastic link
42c: second elastic member
50: roller portion 51: first roller
52: second roller
60: coil sensing part 61: coil sensor
62: substrate 62a: A / D converter
63: Case

Claims (9)

Base;
A first inclined surface inclined to a lower side of the first moving direction and extending from one end of the flat portion in a first moving direction, And a second inclined portion extending from the other end in the second moving direction opposite to the one end of the flat portion in the first moving direction and inclined downward in the second moving direction;
A first roller coupled to a first coupling groove formed on an upper surface of the first inclined portion to be rotatable in the first and second moving directions and partially protruding from an upper surface of the first inclined portion, And a second roller coupled to the second coupling groove formed on the upper side of the upper portion and rotatably coupled in the first and second moving directions and partially protruding from the upper surface of the second inclined portion; And
And a coil sensing part coupled to a mounting groove formed at the center of the flat part of the cradle and including at least one coil sensor,
Wherein the first inclined portion is further projected from the first roller in the first moving direction so as to cover the lower radius of the first roller and inclined to the lower side of the cradle in the first moving direction,
Wherein the second inclined portion further projects from the second roller in the second moving direction so as to cover a lower radius of the second roller and is inclined downward in the second moving direction to a lower end portion of the cradle, Sensing unit. delete The method according to claim 1,
The first inclined portion includes:
A first upper inclined surface extending from one end of the flat portion and inclined to a lower side of the first moving direction and having the first engaging groove formed inward so that the first roller can be engaged with the upper surface; And
And a first lower inclined surface extending from the first upper inclined surface and inclined to a lower portion of the first moving direction to a lower end of the cradle,
Wherein the second inclined portion comprises:
A second upper inclined surface extending from the other end of the flat portion and inclined to a lower side of the second moving direction and having the second engaging groove formed inward so that the second roller can be engaged with the upper surface; And
And a second lower inclined surface extending from the second upper inclined surface to a lower portion of the cradle in a second direction of movement,
Wherein the slopes of the first and second upper inclined surfaces are gentler than the slopes of the first and second lower inclined surfaces. The method according to claim 1,
Wherein,
A first support link rotatably coupled to one end of the upper surface of the base in the first movement direction and supporting one end of the lower surface of the cradle in the first movement direction and a second support link rotatably coupled to the center of the base, A first link member including a first elastic link for elastically supporting the first support link in an upward direction through an elastic member; And
A second support link rotatably coupled to the other end of the upper surface of the base in the second movement direction to support the other end of the lower surface of the cradle in the second movement direction, and a second support link rotatably coupled to the center of the base, And a second link member including a second elastic link for elastically supporting the second support link in an upward direction through the second elastic member,
Wherein the first link member and the second link member elastically support the cradle independently of each other. The method according to claim 1,
Wherein the first and second rollers of the roller portion protrude below the radius of the first and second rollers with respect to the upper surface of the first and second slopes. The method of claim 5,
Wherein the first and second rollers of the roller portion protrude beyond the extension of the flat portion and contact the inner wall of the pipe. And a base portion which is elastically supported in an upper direction by a link portion coupled to an upper portion of the base, the upper surface having a central flat portion and a first portion extending from one end in the first moving direction of the flat portion, And a second inclined portion extending from the other end in the second moving direction opposite to the first moving direction of the flat portion and inclined to a lower side of the second moving direction, and a second inclined portion formed on the upper surface of the first inclined portion A first roller coupled to the first coupling groove and coupled to be rotatable in the first and second moving directions and partially protruding from the upper surface of the first inclined portion, And a second roller coupled to the second inclined portion so as to be rotatable in the first and second moving directions and partially protruding from the upper surface of the second inclined portion, A sensing unit of a piping inspection robot including a coil sensing part coupled to a mounting groove formed at the center of the flat part of the cradle and including at least one coil sensor is formed in a radial direction so as to correspond to the inner wall of the pipe around the base,
Wherein the first inclined portion is further projected from the first roller in the first moving direction so as to cover the lower radius of the first roller and inclined to the lower side of the cradle in the first moving direction,
Wherein the second inclined portion further projects from the second roller in the second moving direction so as to cover a lower radius of the second roller and is inclined downward in the second moving direction to a lower end portion of the cradle, Sensing module. The method of claim 7,
Wherein the coil sensing unit is formed obliquely with respect to the first and second moving directions and is bent so as to correspond to the inner wall of the pipe. The method of claim 7,
The coil sensing unit includes:
At least one coil sensor;
A substrate formed at a lower end of the coil sensor so as to be in contact with the coil sensor and electrically connected to the coil sensor; And
And a case for accommodating the coil sensor and the substrate,
Wherein the substrate is provided with an A / D converter for directly converting an analog signal detected from the coil sensor into a digital signal.
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KR102342244B1 (en) * 2020-08-26 2021-12-21 한국로봇융합연구원 Apparatus for detecting defect of pipe
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CN109630807A (en) * 2018-12-24 2019-04-16 傅秋莹 A kind of climbing robot of pipeline electric wire non-destructive testing
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CN113944824A (en) * 2021-12-21 2022-01-18 山东东研智能科技有限公司 Nondestructive intelligent detection device in pressure pipeline

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