KR101649319B1 - Sensing module of pipe inspection robot - Google Patents

Sensing module of pipe inspection robot Download PDF

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Publication number
KR101649319B1
KR101649319B1 KR1020150162112A KR20150162112A KR101649319B1 KR 101649319 B1 KR101649319 B1 KR 101649319B1 KR 1020150162112 A KR1020150162112 A KR 1020150162112A KR 20150162112 A KR20150162112 A KR 20150162112A KR 101649319 B1 KR101649319 B1 KR 101649319B1
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South Korea
Prior art keywords
link
sliding
coupled
support
shaft
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KR1020150162112A
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Korean (ko)
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노용우
유휘용
구성자
조성호
김동규
유정수
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한국가스공사
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    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16L—PIPES; JOINTS OR FITTINGS FOR PIPES; SUPPORTS FOR PIPES, CABLES OR PROTECTIVE TUBING; MEANS FOR THERMAL INSULATION IN GENERAL
    • F16L55/00—Devices or appurtenances for use in, or in connection with, pipes or pipe systems
    • F16L55/26—Pigs or moles, i.e. devices movable in a pipe or conduit with or without self-contained propulsion means
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16L—PIPES; JOINTS OR FITTINGS FOR PIPES; SUPPORTS FOR PIPES, CABLES OR PROTECTIVE TUBING; MEANS FOR THERMAL INSULATION IN GENERAL
    • F16L55/00—Devices or appurtenances for use in, or in connection with, pipes or pipe systems
    • F16L55/26—Pigs or moles, i.e. devices movable in a pipe or conduit with or without self-contained propulsion means
    • F16L55/28—Constructional aspects
    • 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
    • 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
    • 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

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  • Chemical & Material Sciences (AREA)
  • Engineering & Computer Science (AREA)
  • General Engineering & Computer Science (AREA)
  • Health & Medical Sciences (AREA)
  • Immunology (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • Analytical Chemistry (AREA)
  • Biochemistry (AREA)
  • General Health & Medical Sciences (AREA)
  • General Physics & Mathematics (AREA)
  • Physics & Mathematics (AREA)
  • Pathology (AREA)
  • Electrochemistry (AREA)
  • Combustion & Propulsion (AREA)
  • Chemical Kinetics & Catalysis (AREA)
  • Mechanical Engineering (AREA)
  • Manipulator (AREA)

Abstract

The embodiment of the present invention can be manually contracted or expanded depending on the external environment such as a change in the pipe diameter and can be tightly attached to the inner wall of the pipe as well as actively contracted or expanded due to driving of the motor or the like inside, A sensing module of a piping inspection robot which can easily pass through a " T "

Description

[0001] The present invention relates to a sensing module for a piping inspection robot,

The present invention relates to a sensing module of a piping inspection robot.

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 and defects of the piping by using the nondestructive inspection technique, reliability and accuracy are improved only when the sensing module for detecting a signal depending on the thickness of the piping is brought into close contact with the inner peripheral surface of the piping.

KR 10-1491416 B1

The embodiment of the present invention can be manually contracted or expanded depending on the external environment such as a change in the pipe diameter and can be tightly attached to the inner wall of the pipe as well as actively contracted or expanded due to driving of the motor or the like inside, A sensing module of a piping inspection robot which can easily pass through a " T "

The sensing module of the piping inspection robot according to an embodiment of the present invention includes a first rotation shaft having a first screw thread formed on an outer circumferential surface thereof and receiving a rotational driving force from a motor at one end thereof, And a second rotating shaft which rotates together with the first rotating shaft and has a second screw thread formed on the outer circumferential surface in a direction opposite to the first screw thread; First and second support plates formed at both ends of the rotation unit to support the rotation unit, both ends of the first and second support plates being spaced apart from an outer circumferential surface of the rotation unit and being fixedly coupled to the first and second support plates, A support including a formed guide member; A third screw thread corresponding to the first screw thread is formed on the hollow inner circumferential surface so as to be screwed with the first rotation shaft and is engaged with the guide hole so as to be slidably moved so as to move forward or backward along the length of the first rotation shaft A fourth screw thread corresponding to the second screw thread is formed on the hollow inner circumferential surface so as to be screwed with the second rotation shaft and is engaged with the guide hole so as to be slid on the guide hole, A sliding portion including a second sliding member which is driven in a direction complementary to the first sliding member along the length; And a first sliding link coupled to a lower portion of the first sliding member and supporting the first supporting link, wherein the first sliding link is coupled to the first sliding link, A first link member in which an interval between the lower portion of the first supporting link and the lower portion of the first sliding link is widened or narrowed at the time of driving to lower or raise the upper portion of the first supporting link, And a second sliding link coupled to a lower portion of the second sliding member and supporting the second supporting link, wherein when the second sliding member is driven, A link portion including a second link member whose lower portion of the sliding link is widened or narrowed to cause the upper portion of the second supporting link to descend or ascend; And a sensor portion supported by the upper portions of the first and second support links of the link portion and descending or rising according to the driving of the link portion, the sensor portion including a magnet and a hall sensor.

The sensing module of the piping inspection robot according to an embodiment of the present invention is characterized in that the support portion includes an inner support body for receiving and supporting the connection shaft of the rotary portion in the inner hollow portion, And a shaft support member including a connection support member passing through a support hole formed apart from the guide hole and an outer support member coupled to the connection support member and contacting the upper surface of the guide member.

The sensing module of the piping inspection robot according to an embodiment of the present invention is characterized in that the first sliding member includes a first threaded portion corresponding to the first threaded portion formed on the hollow inner circumferential surface to receive and screw- A first bush; A first linear member protruding from an outer circumferential surface of the first bushing and coupled to slide through the guide hole; And a first connecting member coupled to the first linear member and contacting the upper surface of the guide member, wherein the second sliding member has a hollow inner peripheral surface for receiving and screwing the second rotating shaft therein, A second bush having a fourth thread corresponding to a second thread; A second linear member protruded from an outer circumferential surface of the second bushing and coupled to slide through the guide hole; And a second connecting member coupled to the second linear member and contacting the upper surface of the guide member.

The sensing module of a piping inspection robot according to an embodiment of the present invention is characterized in that the first support link is rotatably coupled to a first lower hinge portion protruding from one end of an upper surface of the guide member, A first lower link supported by a link; And a first upper link rotatably coupled to a first intermediate hinge portion formed on an upper portion of the first lower link and rotatably coupled to a first upper hinge portion protruding from one end of the lower surface of the sensor portion, A second lower link coupled to the second lower hinge portion protruding from the other end of the upper surface of the guide member such that the lower portion is rotatable and supported by the second sliding link; And a second upper link rotatably coupled to a second intermediate hinge portion formed on an upper portion of the second lower link and rotatably coupled to a second upper hinge portion protruding from the other end of the lower surface of the sensor portion .

The sensing module of the piping inspection robot according to an embodiment of the present invention is characterized in that the first sliding link includes: a first sliding shaft rotatably coupled to the first lower link; The first sliding member is rotatably coupled to the first sliding member and is slidably inserted into a first sliding hole in a direction perpendicular to a shaft formed on the first sliding shaft, A first sliding bar having a first protruding jaw formed therein; And a first elastic member formed to surround the outer circumferential surface of the first sliding bar and elastically supporting the first lower link in an upward direction, wherein the second sliding link is rotatable with respect to the second lower link, A second sliding axis coupled to the second sliding axis; And a second sliding hole that is rotatably coupled to the second sliding member and is slidably inserted into a second sliding hole in a direction perpendicular to an axis formed on the second sliding axis, A second sliding bar having a second protruding jaw formed thereon; And a second elastic member formed to surround the outer circumferential surface of the second sliding bar and elastically supporting the second lower link in an upward direction.

The sensing module of the piping inspection robot according to an embodiment of the present invention is characterized in that the first and second lower hinge portions, the first and second middle hinge portions, and the first and second upper hinge portions, , An ascending stopper is formed to limit the rotation range of the first upper link or the first lower link in the direction of the rotation of the first upper link or the first lower link, A lower stopper is provided to limit the rotation range of the first and second upper links or the first and second upper links or the first and second lower links in the direction in which the first, .

The sensing module of the piping inspection robot according to an embodiment of the present invention includes: a descending threshold signal generator formed at the center of the lower surface of the guide member; A rising threshold signal generator formed at one end of the lower surface of the guide member; And a position measuring sensor coupled to the sliding portion and sensing a signal of the falling threshold signal generator and the rising threshold signal generator to stop driving the motor at a rising or falling threshold line of the sensor portion, .

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, since the sensing module can be actively contracted or expanded due to driving of an internal motor or the like, an effect that the piping inspection robot can easily pass through the 'T' have.

In addition, when there is a need to collect the inspection robot, it is possible to increase the running speed of the inspection robot in accordance with the active contraction of the sensing module, thereby enabling the inspection robot to be quickly recovered.

Further, the shaft supporting member supports the connecting shaft which is the center of the rotating portion, thereby preventing the rotating portion from being buckled or buckled.

In addition, the first and second support links are constituted by the lower link and the upper link, respectively, so that even if the upper portions of the first and second support links rise or fall, the sensor portion can be stably supported at the same position.

Further, since the first and second elastic members elastically support the first and second lower links in an upward direction, the sensing module can be manually contracted or expanded according to an external environment such as a change in pipe diameter, Is composed of active contraction and expansion and a separate operation principle, so that the response speed of contraction and expansion of the sensing module can be improved.

In addition, an up stopper and a descending stopper for limiting the rotation range of the first and second upper links, the first and second lower links are formed, thereby enhancing the reliability of the active shrinking and expansion of the sensing module.

Further, the sensing module further includes a position measuring unit, which can stop the driving of the motor when the sensor unit reaches the rising or falling critical point, thereby reducing power consumption and preventing overload of the components.

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.
FIG. 2 is a view showing a piping inspection robot according to an embodiment of the present invention when passing through a 'T' -shaped branch pipe;
3 is a perspective view of a sensing module of a piping inspection robot according to an embodiment of the present invention;
4 is an exploded perspective view of a rotation unit, a support unit, and a sliding unit in a sensing module of a piping inspection robot according to an embodiment of the present invention;
5 is a sectional view of a sensing module of a piping inspection robot according to an embodiment of the present invention when the sensing module is actively expanded.
FIG. 6 is a sectional view of a sensing module of a piping inspection robot according to an embodiment of the present invention when the sensing module is actively contracted; FIG.
FIG. 7 is a side sectional view of a sensing module of a piping inspection robot according to an embodiment of the present invention when the sensing module is manually expanded and contracted; FIG.
8 is a partially enlarged view of a lower hinge portion, an intermediate hinge portion, an upper hinge portion, and a position measuring portion of a sensing module of a piping inspection robot according to an 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. Particularly, " passive contraction or expansion " described herein means that the sensing module 10 of the piping inspection robot 1 contracts or expands according to changes in the external environment such as the diameter of the piping, and " It means that the sensing module 10 of the piping inspection robot 1 is contracted or expanded by the operation of a driving source such as a motor formed therein. In the following description of the present invention, a detailed description of related arts which may unnecessarily obscure the gist of the present invention will be omitted.

Hereinafter, an embodiment of the sensing module 10 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 to an intelligent pig system as well as an unfigured self-propelled robotic system and can be applied to various nondestructive inspection techniques. However, an embodiment of the present invention can be applied to an unfigured self- .

FIG. 1 is a view showing an entire piping inspection robot 1 according to an embodiment of the present invention. FIG. 2 is a view showing a piping inspection robot 1 according to an embodiment of the present invention. And FIG.

 1, the piping inspection robot 1 includes a self-propelled robot module 2, a sensing module 10, and a controller 8. As shown in Fig.

The self propelling robot module 2 includes the driver module 3 to pull the entire piping inspection robot 1 in the longitudinal direction inside the piping and to detect the operation of the piping inspection robot 1 including the battery module 4 And may include the camera module 5 to photograph the inside of the pipeline, thereby generating state change information including information such as an obstacle present in the pipeline, a path of the pipeline, and the presence or absence of branching . In addition, it can include the support module 6 to support the sensing module 10 and the controller 8, and can further mount additional components.

Then, the sensing module 10 magnetizes the pipe, which is a ferromagnetic body, and detects magnetic flux disturbed in the vicinity of the presence of a defect in the pipe. Since the sensing module 10 is brought into close contact with the inner wall of the pipe even if the diameter of the pipe is changed in order to magnetize the pipe and detect disturbed magnetic fluxes, do. That is, when the diameter of the pipe is reduced, the sensing module 10 is contracted as the inner wall of the pipe is pressed against the sensing module 10, so that the sensing module 10 will be in close contact with the inner wall of the pipe. The sensing module 10 can be closely attached to the inner wall of the pipe as the sensing module 10 is extended. A plurality of sensing modules 10 are formed in the radial direction around the rotation part in order to measure a change in the thickness of the entire perimeter of the pipe. Hereinafter, the sensing module 10 will be described with reference to one sensing module 10 for convenience of explanation.

Further, the controller 8 generates information on whether or not the pipe is defective based on the change of the magnetic flux detected by the sensing module 10, and determines the operation state of the pipe inspection robot 1 based on the state change information inside the pipe Can be controlled.

Each of the modules, the sensing module 10 and the controller 8 is connected to the joint module 7 so that the pipe inspection robot 1 can be refracted for each joint module 7, 1) can pass through a 'T' -shaped branch pipe or the like, as shown in FIG.

However, if the sensing module 10 shrinks or expands only manually as the diameter of the pipe changes, when the piping inspection robot 1 passes through the T-shaped branch pipe, as shown in FIG. 2A, The sensing module 10 which is in close contact with the inner wall of the pipe may be shrunk but the sensing module 10 which is not closely attached is not contracted and extended so that it can not pass through the T- It can be caught in the corner. Accordingly, in passing through the T-shaped branch pipe or the like, the sensing module 10 needs to have a structure capable of actively contracting or expanding by the operation of a driving source such as an internal motor. Accordingly, The sensing module 10 which is not closely attached can also be contracted, so that the piping inspection robot 1 can easily pass through the T-shaped branch pipe or the like. Hereinafter, a pipe according to an embodiment of the present invention, which can shrink or expand manually as the diameter of the pipe changes, but may also actively shrink or expand by operation of a drive source such as an internal motor, The sensing module 10 of the inspection robot 1 will be described in detail.

FIG. 3 is a perspective view of a sensing module 10 of a piping inspection robot 1 according to an embodiment of the present invention. FIG. 4 is a perspective view of a sensing module 10 of a piping inspection robot 1 according to an embodiment of the present invention. 5 is an exploded perspective view of the rotation unit 20, the support unit 30 and the sliding unit 40 of the piping inspection robot 1 according to the embodiment of the present invention. FIG. 6 is a cross-sectional view of one side of the sensing module 10 when the sensing module 10 is actively contracted according to an embodiment of the present invention. Hereinafter, a structure for actively expanding or contracting the sensing module of the piping inspection robot 1 according to an embodiment of the present invention will be described.

3 to 6, the sensing module 10 of the piping inspection robot 1 according to an embodiment of the present invention includes a rotation unit 20, a support unit 30, a sliding unit 40, (50), and a sensor unit (60). The sensing module 10 of the piping inspection robot 1 according to the embodiment of the present invention is configured such that the sliding portion 40 is rotated by the rotation of the rotary portion 20 supported by the support portion 30 The upper part of the link part 50 supporting the sensor part 60 is lowered or raised so that the entire sensing module 10 actively shrinks or expands can do.

The rotary section 20 includes a first rotary shaft 22 having a first thread T 1 formed on its outer circumferential surface and a rotary shaft 22 which receives a rotary driving force from the motor 21 at one end thereof and a connecting shaft 24 from the other end of the first rotary shaft 22 And a second rotation shaft 23 formed on the outer circumferential surface and extending in a direction opposite to the first screw thread T 1 and having a second screw thread T 2 extending in the direction opposite to the first screw thread T 1, And transmits the driving force to the sliding portion 40 to be described later. And includes a first rotation shaft 22 that receives the rotational driving force from the motor 21 so that the connection shaft 24 and the second rotation shaft 23 rotate integrally. The first screw thread T1 formed on the outer peripheral surface of the first rotation shaft 22 and the second screw thread T2 formed on the outer peripheral surface of the second rotation shaft 23 are formed in mutually opposite directions, (41) and the second sliding member (42) in a complementary direction. The sensing module 10 of the piping inspection robot 1 according to an embodiment of the present invention is actively contracted or expanded through the rotational driving force of the motor 21. The motor 21 is connected to the first rotation shaft 22, And transmits the rotational force not only to one direction but also to the other direction. 5, the direction in which the rotation unit 20 rotates when the sensor module 10 is actively expanded is defined as one direction, and when the sensing module 10 is actively contracted as shown in FIG. 6, 20) is defined as the other direction.

The support portion 30 includes first and second support plates 31 and 32 formed at both ends of the rotation portion 20 for supporting the rotation portion 20 and spaced apart from the outer peripheral surface of the rotation portion 20, And a guide member 33 having both ends thereof fixedly coupled to the guide portions 31 and 32 and linear guide holes 33a formed in the longitudinal direction of the rotation portion 20 so as to support the rotation portion 20, 40 to forward or backward driving. That is, the first support plate 31 formed at one end of the first rotation shaft 22 and the second support plate 32 formed at the end of the second rotation shaft 23 opposite to the first rotation shaft 22, So that the rotating portion 20 can perform stable rotation driving. The first sliding member 41 and the second sliding member 42 to be described later are coupled to the linear guide hole 33a of the guide member 33 so as to be slidably moved and driven by the rotational driving force of the rotation unit 20 The sliding portion 40 can be driven forward or backward along the longitudinal direction of the rotary portion 20. [ Alternatively, the guide hole 33a may be formed continuously or spaced apart from the support hole 33b formed at the center of the guide member 33. In addition,

The sliding portion 40 has a third thread T3 corresponding to the first thread T1 on the hollow inner circumferential surface so as to be screwed on the first rotating shaft 22 and is coupled to the guide hole 33a so as to be slidably moved, A first sliding member 41 driven forward or backward along the length of the first rotary shaft 22 during rotation of the first rotary shaft 20 and a second threaded portion T2 on the hollow inner peripheral surface to be screwed with the second rotary shaft 23, The fourth screw thread T4 is formed and is slidably coupled to the guide hole 33a so that the first screw member T4 is moved in the direction complementary to the first sliding member 41 along the length of the second rotation shaft 23 when the rotation unit 20 rotates And a second sliding member 42 that is driven by the second sliding member 42. The driving force of the rotation unit 20 is used to linearly drive the front portion or the rear portion along the length of the rotation unit 20, . When the sensing unit 10 is actively extended as shown in FIG. 5, when the rotation unit 20 is rotated in one direction, the first sliding member 41 screwed to the first rotation shaft 22 is rotated, The first thread Tl is moved in a direction opposite to the connecting shaft 24 in correspondence to the movement of the first thread Tl in the direction opposite to the connecting shaft 24 without being rotated together with the rotating portion 20, . 6, the rotating part 20 is rotated in the other direction, and the first sliding member 41 screwed to the first rotating shaft 22 is rotated in the opposite direction to the first rotating shaft 22, Is driven in the direction of the connection shaft 24 in correspondence with the movement of the connection shaft (T1) in the direction of the connection shaft (24). The second thread T 2 is formed in a direction opposite to the first thread T 1 and the fourth thread T 4 corresponding to the second thread T 2 is also formed in the third direction T 3 corresponding to the first thread T 1, The second sliding member 42 having the fourth thread T4 formed in the opposite direction to the thread T3 is driven in a direction complementary to the first sliding member 41 formed with the third thread T3. As a result, when the sensing module 10 is actively expanded, the first sliding member 41 and the second sliding member 42 are driven away from the connecting shaft 24, and the sensing module 10 is actively moved The first sliding member 41 and the second sliding member 42 are driven to approach each other from the connecting shaft 24. [

The link portion 50 includes a first support link 52 coupled to one end of the guide member 33 so as to be rotatable at the lower end thereof and a second support link 52 coupled to the first slide member 41 at a lower portion thereof, The first sliding link 53 supports the first sliding link 41 and the first sliding link 41. When the first sliding member 41 is driven, the gap between the lower portion of the first supporting link 52 and the lower portion of the first sliding link 53 is narrowed or narrowed, A second link member 55 coupled to the other end of the guide member 33 so as to be rotatable on the lower end thereof and a second sliding member 42 connected to the lower portion of the second sliding member 42, And a second sliding link 56 supporting the second supporting link 55 so that the lower portion of the second supporting link 55 and the second sliding link 56 when the second sliding member 42 is driven, And a second link member 54 whose lower portion is opened or narrowed so that the upper portion of the second support link 55 is lowered or raised so that the front portion of the sliding portion 40 By using the driving force of the room or the rear, the upper portion of the link portion 50 is lowered or raised, and the sensor portion 60 to be described later is supported by the upper portion of the link portion 50. When the sensing module 10 is actively expanded as shown in FIG. 5, the first sliding member 41 is driven in a direction opposite to the connecting shaft 24 The lower part of the first supporting link 52 is brought close to the one end of the guiding member 33 to which the first sliding link 41 is coupled, 52). As a result, the first support link 52 supported by the first sliding link 53 is rotated in the direction in which the one end of the guide member 33 stands at the reference point, and as a result, The upper portion of the first supporting link 52 is raised. Conversely, when the sensing module 10 is actively contracted as shown in FIG. 6, the first sliding member 41 is driven in the direction of the connecting shaft 24, and accordingly, the first sliding member 41 1 sliding link 53 is separated from the lower portion of the first supporting link 52 coupled to one end of the guide member 33. [ As a result, the first support link 52 supported by the first sliding link 53 is rotated in a direction in which the one end of the guide member 33 is laid as a reference point, and as a result, The upper portion of the first support link 52 is lowered. The above description of the first link member 51 is equally applied to the second link member 54 so that when the sensing module 10 is expanded, The upper portion of the link 55 rises and the upper portion of the second support link 55 descends when the sensing module 10 is retracted.

The sensor unit 60 is supported by the upper portions of the first and second support links 52 and 55 of the link unit 50 and descends or rises as the link unit 50 is driven. And a Hall sensor (62). 5, when the upper portions of the first and second support links 52 and 55 are raised, the sensor portion 60 supported by the first and second support links 52 and 55 is also raised and brought into close contact with the inner wall of the pipe Accordingly, the sensor unit 60 magnetizes the pipe using the magnet 61, and the hole sensor 62 detects the magnetic flux disturbed in the vicinity of the defect, thereby determining whether the pipe is defective. On the other hand, when the sensing module 10 is actively contracted as shown in FIG. 6, the upper portions of the first and second support links 52 and 55 descend, and the sensor portion 60 supported thereon is also lowered. Accordingly, the piping inspection robot 1 can actively shrink the sensing module 10 when passing through a pipe such as a T-shaped branch pipe or the like, and can easily pass through the piping. Even when the piping inspection robot 1 needs to be recovered, the sensor unit 60 is spaced apart from the inner wall of the piping due to active contraction of the sensing module 10, so that the traveling speed of the piping inspection robot 1 The piping inspection robot 1 can be quickly recovered.

In the sensing module 10 of the piping inspection robot 1 according to the embodiment of the present invention, the supporting portion 30 supports the rotating portion 20 more stably so that the rotating portion 20 is buckled or buckled A guide hole 33a is formed at the center of the guide member 33 so as to protrude from the outer circumferential surface of the inner support body 34a and to support the connection shaft 24 of the rotation unit 20 in the inner hollow, And a shaft supporting member 34b including an external support body 34c which is coupled to the connection support body 34b and fixed to the upper surface of the guide body 33 in contact with the upper surface of the guide body 33, ) (See Fig. 4). The shaft support member 34 is fixed to the guide member 33 to support the connection shaft 24 which is the center of the rotation portion 20 so that the rotation portion 20 can be prevented from buckling or buckling. On the other hand, the inner support 34a, the connection support 34b, and the outer support 34c constituting the shaft support member 34 may be integrally formed or may be separately formed and assembled for ease of assembly.

In the sensing module 10 of the piping inspection robot 1 according to the embodiment of the present invention, the first sliding member 41 has a first inner circumferential surface on which the first rotating shaft 22 is received and screwed, A first bushing 41a formed with a third thread T3 corresponding to the thread T1 and a second bushing 41b protruded from the outer circumferential surface of the first bushing 41a and coupled to slide through the guide hole 33a, And a first connecting member 41c coupled to the first linear member 41b and the upper surface of the guide member 33. The second sliding member 42 may include a first connecting member 41c, A second bush 42a having a fourth thread T4 corresponding to the second thread T2 formed on the hollow inner circumferential surface so as to be received in the first bush 42a and the second bush 42a, A second linear member 42b and a second linear member 42b which are coupled to slidably move through the first linear member 42a and the second linear member 42b, It can include a second connection member (42c) in contact with the upper surface of the guide member 33. Accordingly, the first sliding member 41 and the second sliding member 42 are held in contact with the upper surface of the guide member 33 so that they can stably slide along the guide hole 33a. On the other hand, the bushes 41a and 42a, the linear members 41b and 42b and the connecting members 41c and 42c constituting the first and second sliding members 41 and 42 can be integrally formed, And may be separately formed and coupled.

The first support link 52 of the sensing module 10 of the piping inspection robot 1 according to the embodiment of the present invention includes a first lower hinge portion H1 protruding from one end of the upper surface of the guide member 33, And a first lower link 52a supported by the first sliding link 53 and a first intermediate hinge portion H3 formed on the upper portion of the first lower link 52a, And a first upper link 52b rotatably coupled to a first upper hinge portion H5 protruding from one end of the lower surface of the sensor portion 60. The second support link 55 may include A second lower link 55a rotatably coupled to the second lower hinge portion H2 protruding from the other end of the upper surface of the guide member 33 and supported by the second sliding link 56, Is rotatably coupled to a second intermediate hinge portion (H4) formed on the upper portion of the lower link (55a), and the other end of the lower surface of the sensor portion And the second upper link 55b rotatably coupled to the second upper hinge portion H6 so that the sensor portion 60 can be rotated even when the upper portions of the first and second support links 52 and 55 are raised or lowered. Can be supported at the same position. 5, when the sensing module 10 is actively extended as shown in FIG. 5, the first lower link 52a is positioned on the upstanding side of the first sliding link 53 Thereby rotating in a direction to stand up with respect to the first lower hinge section H1. The upper part of the first lower link 52a is moved a predetermined distance in the longitudinal direction of the rotary part 20 so that the first upper link 52b moves up the first upper hinge part H5, The first upper hinge portion H5 only rotates with respect to the upper hinge portion H5 and does not change the horizontal position of the first upper hinge portion H5. This is also true when the sensing module 10 is actively contracted as shown in FIG. Therefore, since the horizontal position of the first upper hinge section H5 is not changed, the first support link 52 can raise or lower the sensor section 60 while supporting the sensor section 60 at the same position. Accordingly, the driving force transmitted to the link portion 50 can be used solely for raising or lowering the sensor portion 60 only. On the other hand, the above description of the first support link 52 is equally applicable to the second support link 55 as well.

FIG. 7A is a cross-sectional view of a sensing module 10 of a piping inspection robot 1 according to an embodiment of the present invention when the sensing module 10 is manually expanded. FIG. 7B is a schematic view of a piping inspection robot 1 according to an embodiment of the present invention Of the sensing module 10 is manually retracted. Hereinafter, the structure of the sensing module 10 of the pipe inspection robot 1 according to an embodiment of the present invention will be described with reference to the structure when the sensing module 10 is manually expanded or contracted. However, The description of the parts is omitted.

In the sensing module 10 of the piping inspection robot 1 according to the embodiment of the present invention, the first sliding link 53 includes a first sliding shaft (not shown) coupled rotatably to the first lower link 52a, A first sliding shaft 53a rotatably coupled to the first sliding shaft 53a and a first sliding hole 53b perpendicular to the shaft formed on the first sliding shaft 53a, A first sliding bar 53c having a first protruding step 53d for preventing the first sliding bar 53a from being separated from the first sliding bar 53a in the direction of the first sliding bar 53a, The second sliding link 56 may include a second sliding shaft 56a coupled to the second lower link 55a in a rotatable manner, 2 in the direction perpendicular to the axis formed on the second sliding shaft 56a and rotatably coupled to the second sliding member 42, A second sliding bar 56c and a second sliding bar 56b slidably movably inserted into the riding hole 56b and having a second protruding protrusion 56d formed at an end portion thereof in the direction of the second sliding axis 56a, And a second elastic member 56e formed to surround the outer circumferential surface of the second lower link 55a and elastically supporting the second lower link 55a in an upward direction. The passive contraction or expansion of the sensing module 10 may be performed by an active shrinkage or expansion and a separate operating principle so that the response speed of the sensing module 10 to contract or expand Can be improved. Specifically, when the sensing module 10 is manually expanded due to a widened pipe diameter or the like as shown in FIG. 7A, the first elastic member 53e The first lower link 52a elastically supports the first lower link 52a in the upward direction until the first projection 53d of the first sliding bar 53c engages the first sliding shaft 53a, Is rotated in a direction to stand up with respect to the first lower hinge portion H1. The first upper link 52b also rotates in a direction to stand up with respect to the first upper hinge portion H5 owing to the standing of the first lower link 52a and the first upper link 52b supporting the sensor portion 60 The sensing module 10 is extended as a whole. On the other hand, when the sensing module 10 is manually contracted due to the pipe diameter becoming narrow as shown in FIG. 7B, the inner wall of the pipe presses the sensor portion 60, A downward pressing force acts on the upper portion of the upper link 52b. The first upper link 52b rotates in a direction in which the first upper link 52b is laid relative to the first upper hinge portion H5 and the first lower link 52a is also laid on the basis of one end of the guide member 33 Direction. The first sliding bar 53c is slidably inserted into the first sliding hole 53b so as to be rotatable in a direction in which the first lower link 52a is laid, The first lower link 52a can be rotated in the lying direction by merely projecting the end of the first sliding bar 53c on which the first projecting step 53d is formed to the first sliding hole 53b without moving . The operating principle of the first sliding link 53 is equally applicable to the second sliding link 56 as well.

8 is a sectional view of a sensing module 10 of a piping inspection robot 1 according to an embodiment of the present invention in which lower hinge portions H1 and H2, middle hinge portions H3 and H4, upper hinge portions H5 and H5, H6) and the position measuring unit 70 in an enlarged scale. Hereinafter, a configuration for limiting the expansion or contraction of the sensing module 10 of the piping inspection robot 1 according to an embodiment of the present invention will be described, and a description overlapping with the above description will be omitted.

In the sensing module 10 of the piping inspection robot 1 according to the embodiment of the present invention, the first and second lower hinge portions H1 and H2, the first and second middle hinge portions H3 and H4, And the first and second upper links 52b and 55b or the first and second lower links 52a and 55a coupled to the first and second upper hinge portions H5 and H6, Up stoppers HS may be formed to limit the rotation range of the second upper links 52b and 55b or the first and second lower links 52a and 55a in the standing direction, The first and second upper links 52b and 55b or the first and second lower links 52a and 55a at the other end in the rotation direction of the links 52b and 55b or the first and second lower links 52a and 55a The link portion 50 can stably support the sensor portion 60 even when the sensing module 10 is maximally expanded or contracted to a maximum extent have. As shown in FIG. 8, the up stoppers HS and the down stoppers LS are formed in a protruding shape on the hinge portions H1 to H6, and the upper links 52b 55b and the lower links 52a and 55a may be formed so that the rotation range of the upper links 52b and 55b and the lower links 52a and 55a may be limited. Is not limited to this. The ascending stopper HS and the descending stopper LS are disposed on the first and second lower hinge portions H1 and H2 and the first and second intermediate hinge portions H3 and H4, (H5, H6), or may be formed on all of them. The rotation ranges of the first and second upper links 52b and 55b and the first and second lower links 52a and 55a limited to the ascending stopper HS and the descending stopper LS are the same .

8, the sensing module 10 of the piping inspection robot 1 according to an embodiment of the present invention may further include a position measurement unit 70, A descending threshold signal generator 71 formed at the center of the lower surface of the guide member 33, a rising threshold signal generator 72 formed at one end of the lower surface of the guide member 33 and a rising threshold signal generator 72 connected to the sliding unit 40, And a position measurement sensor 73 for sensing the signals of the signal generators 71 and 72 to stop driving the motor 21 at the rising or falling threshold lines HL and LL of the sensor unit 60 . In this case, the rising threshold line (HL) means that the sensor unit 60 can be lifted up to the maximum due to the limit of the length of the rotation unit 20 or the limitation of the physical structure of the sensing module 10 such as the rising stopper And the lowering threshold line LL means that the sensor unit 60 is lowered to the maximum by the limit of the length of the rotary part 20 or the limit of the physical structure of the sensing module 10 such as the lower stopper LS It is a boundary line that can be done. Specifically, when the sensor unit 60 reaches the rising threshold line HL when the sensing module 10 is actively expanded, the sliding unit 40 moves the guide unit 60 in a direction (33). The position measuring sensor 73 coupled to the sliding part 40 is positioned at a position corresponding to the rising threshold signal generator 72 formed at one end of the lower surface of the guide member 33, The driving of the motor 21 is stopped by detecting the signal. Conversely, if the sensor portion 60 reaches the lowering threshold line LL when the sensing module 10 is actively contracted, the sliding portion 40 is driven in the direction of the center of the guide member 33. The position measuring sensor 73 coupled to the sliding portion 40 is located at a position corresponding to the falling threshold signal generator 71 formed at the center of the lower surface of the guide member 33 and is then supplied with the signal of the falling threshold signal generator 71 The driving of the motor 21 is stopped.

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: Support module
7: Joint module 8: Controller
10: Sensing module
20: rotation part 21: motor
22: first rotating shaft 23: second rotating shaft
24: Connection axis
30: Support part 31: First support plate
32: second support plate 33: guide member
33a: Guide hole 33b: Support hole
34: Shaft support member 34a: Inner support
34b: connection support 34c: outer support
40: sliding portion 41: first sliding member
41a: first bush 41b: first linear member
41c: first connecting member 42: second sliding member
42a: second bush 42b: second linear member
42c: second connecting member
50: link portion 51: first link member
52: first supporting link 52a: first lower link
52b: first upper link 53: first sliding link
53a: first sliding shaft 53b: first sliding hole
53c: first sliding bar 53d: first protruding jaw
53e: first elastic member 54: second link member
55: second supporting link 55a: second lower link
55b: second upper link 56: second sliding link
56a: second sliding shaft 56b: second sliding hole
56c: second sliding bar 56d: second protruding jaw
56e: second elastic member
60: Sensor part 61: Magnet
62: Hall sensor
70: position measuring unit 71: descending threshold signal generator
72: rising threshold signal generator 73: position measuring sensor
T1: first thread T2: second thread
T3: third thread T4: fourth thread
H1: first lower hinge portion H2: second lower hinge portion
H3: first intermediate hinge portion H4: second intermediate hinge portion
H5: first upper hinge portion H6: second upper hinge portion
HS: Up stopper LS: Down stopper
HL: rising threshold line LL: falling threshold line

Claims (7)

A first rotating shaft having a first screw thread formed on an outer circumferential surface thereof and receiving a rotational driving force from the motor at one end thereof; a second rotating shaft extending from the other end of the first rotating shaft through the connecting shaft, rotating together with the first rotating shaft, A second rotating shaft having a second threaded portion formed in a second direction;
First and second support plates formed at both ends of the rotation unit to support the rotation unit, both ends of the first and second support plates being spaced apart from an outer circumferential surface of the rotation unit and being fixedly coupled to the first and second support plates, A support including a formed guide member;
A third screw thread corresponding to the first screw thread is formed on the hollow inner circumferential surface so as to be screwed with the first rotation shaft and is engaged with the guide hole so as to be slidably moved so as to move forward or backward along the length of the first rotation shaft A fourth screw thread corresponding to the second screw thread is formed on the hollow inner circumferential surface so as to be screwed with the second rotation shaft and is engaged with the guide hole so as to be slid on the guide hole, A sliding portion including a second sliding member which is driven in a direction complementary to the first sliding member along the length;
And a first sliding link coupled to a lower portion of the first sliding member and supporting the first supporting link, wherein the first sliding link is coupled to the first sliding link, A first link member in which an interval between the lower portion of the first supporting link and the lower portion of the first sliding link is widened or narrowed at the time of driving to lower or raise the upper portion of the first supporting link, And a second sliding link coupled to a lower portion of the second sliding member and supporting the second supporting link, wherein when the second sliding member is driven, A link portion including a second link member whose lower portion of the sliding link is widened or narrowed to cause the upper portion of the second supporting link to descend or ascend; And
And a sensor portion supported by the upper portions of the first and second support links of the link portion and descending or rising according to the driving of the link portion, the sensor portion including a magnet and a hall sensor. The method according to claim 1,
The support portion
An inner support body for receiving and supporting the connection shaft of the rotary part in the inner hollow, a connection support member protruding from the outer circumferential surface of the inner support member and passing through a support hole formed at the center of the guide member and spaced apart from the guide hole, And a shaft supporting member including an outer support which is in contact with an upper surface of the guide member. The method according to claim 1,
Wherein the first sliding member comprises:
A first bushing having a first screw thread corresponding to the first screw thread formed on a hollow inner circumferential surface to receive the first rotation shaft therein and to be screwed;
A first linear member protruding from an outer circumferential surface of the first bushing and coupled to slide through the guide hole; And
And a first connecting member coupled to the first linear member and contacting the upper surface of the guide member,
The second sliding member
A second bushing having a fourth thread corresponding to the second thread on the hollow inner circumferential surface to receive the second rotation shaft therein and to be threaded;
A second linear member protruded from an outer circumferential surface of the second bushing and coupled to slide through the guide hole; And
And a second connection member coupled to the second linear member and contacting the upper surface of the guide member. The method according to claim 1,
Wherein the first support link comprises:
A first lower link coupled to the first lower hinge portion protruding from one end of the upper surface of the guide member to be rotatable and supported by the first sliding link; And
And a first upper link rotatably coupled to a first middle hinge portion formed on an upper portion of the first lower link and rotatably coupled to a first upper hinge portion protruding from one end of the lower surface of the sensor portion,
The second support link
A second lower link coupled to the second lower hinge portion protruding from the other end of the upper surface of the guide member so as to be rotatable and supported by the second sliding link; And
And a second upper link rotatably coupled to a second middle hinge portion formed on an upper portion of the second lower link and rotatably coupled to a second upper hinge portion protruding from the other end of the lower surface of the sensor portion, Sensing module of inspection robot. The method of claim 4,
Wherein the first sliding link comprises:
A first sliding shaft rotatably coupled to the first lower link;
The first sliding member is rotatably coupled to the first sliding member and is slidably inserted into a first sliding hole in a direction perpendicular to a shaft formed on the first sliding shaft, A first sliding bar having a first protruding jaw formed therein; And
And a first elastic member formed to surround an outer circumferential surface of the first sliding bar and elastically supporting the first lower link in an upward direction,
Wherein the second sliding link comprises:
A second sliding shaft rotatably coupled to the second lower link;
And a second sliding hole that is rotatably coupled to the second sliding member and is slidably inserted into a second sliding hole in a direction perpendicular to an axis formed on the second sliding axis, A second sliding bar having a second protruding jaw formed thereon; And
And a second elastic member formed to surround an outer circumferential surface of the second sliding bar and elastically supporting the second lower link in an upward direction. The method of claim 4,
The first and second lower hinge portions, the first and second middle hinge portions, and the first and second upper hinge portions are coupled to the first and second upper links or the first and second lower links in the rotational direction An ascending stopper is formed at one end to limit the rotation range of the first and second upper links or the first and second lower links in the direction in which the first and second upper links or the first and second lower links The lower stopper is configured to limit the rotation range of the first and second upper links or the first and second lower links in the direction in which the first and second lower links are laid. The method according to claim 1,
A descending threshold signal generator formed at the center of the lower surface of the guide member;
A rising threshold signal generator formed at one end of the lower surface of the guide member; And
And a position sensor coupled to the sliding portion and sensing signals of the falling threshold signal generator and the rising threshold signal generator,
And a position measuring unit for stopping the driving of the motor on a rising or falling threshold line of the sensor unit.
KR1020150162112A 2015-11-18 2015-11-18 Sensing module of pipe inspection robot KR101649319B1 (en)

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CN116297821A (en) * 2023-04-19 2023-06-23 北京市燃气集团有限责任公司 Far-field vortex device for detecting in urban gas pipeline
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