KR101741664B1 - Variable Robot for Searching Pipe - Google Patents

Variable Robot for Searching Pipe Download PDF

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Publication number
KR101741664B1
KR101741664B1 KR1020150138365A KR20150138365A KR101741664B1 KR 101741664 B1 KR101741664 B1 KR 101741664B1 KR 1020150138365 A KR1020150138365 A KR 1020150138365A KR 20150138365 A KR20150138365 A KR 20150138365A KR 101741664 B1 KR101741664 B1 KR 101741664B1
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KR
South Korea
Prior art keywords
pipe
wheel
robot
auxiliary
bracket
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Application number
KR1020150138365A
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Korean (ko)
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KR20170015048A (en
Inventor
심재홍
유창욱
신인철
남태현
Original Assignee
한국산업기술대학교산학협력단
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Publication of KR20170015048A publication Critical patent/KR20170015048A/en
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Publication of KR101741664B1 publication Critical patent/KR101741664B1/en

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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
    • 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
    • B25J19/021—Optical sensing devices
    • B25J19/023—Optical sensing devices including video camera means
    • 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
    • F16L55/28—Constructional aspects
    • F16L55/30—Constructional aspects of the propulsion means, e.g. towed by cables
    • F16L55/32—Constructional aspects of the propulsion means, e.g. towed by cables being self-contained
    • 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 flexible robot for exploration of the pipe topography is designed to be folded and unfolded according to the size of the pipe, thereby varying the size of the robot. By detecting the contact of the auxiliary wheel with the proximity sensor, And it is possible to probe the inside of the pipe regardless of the size of the pipe.

Description

{Variable Robot for Searching Pipe}

The present invention relates to a variable-type robot for exploring a pipe topography search. The robot is folded and unfolded according to the size of a pipe to vary the size of the robot. The proximity sensor detects the contact of the wheel, The present invention relates to a flexible robot for exploring a pipe topography search capable of detecting the inside of a pipe regardless of a change in the size of the pipe.

Generally, various types of piping are used in various industries. Such tubing is well suited for transporting water, oil, liquefied gas, or the like. Such pipes are used in various fields such as water supply and drainage pipes, city gas pipes, and plant pipes of petrochemical plants.

In piping where flammable or poisonous materials flow through the inside, damage to piping can result in loss of life and property.

Generally, after the pipe is installed, due to aging or corrosion of the pipe over time, there may be a gap or damage to the pipe due to external impact due to construction or the like, which may cause a serious accident.

Therefore, it is necessary to perform maintenance work to prevent the occurrence of accidents by checking the internal condition and cracks of the piping at any time or during a certain period of time after the piping is installed. Maintenance work is difficult because of accessibility to the pipe to be inspected due to facilities in the vicinity of the pipe, and when the pipe is buried in the ground, it is impossible to access the pipe, so that a great cost and manpower are required.

For this reason, in order to inspect the interior of a pipe, a robot for inspecting a pipe is being developed, which can photograph the state of the pipe while moving inside the pipe and check the internal state and abnormality of the pipe from the outside.

Until now, the robot for piping inspection has been measuring the internal state and abnormality of the pipe assuming that the size of the pipe is constant or assuming that there is no value error of the sensor.

However, in actual practice, the internal diameter of the pipe is not constant, and it is often the case that the infrared sensor can not be detected due to foreign matter or mud.

Therefore, the robot for the pipe inspection moves the wheels along the inside of the pipe, and a lot of pipe inspection data errors occur depending on the contact between the inner surface of the pipe and the wheel.

In order to determine whether the wheel contacts the inner surface of the pipe, the robot uses a pressure sensor that measures the load on the shaft shaft inside the motor or measures the pressure inside the motor, or uses a load cell or a strain gauge.

Such a pipe inspecting robot uses a good performance motor so that the price of the robot is extremely increased, and the weight of the robot is greatly increased, which makes the movement of the robot such as vertical rise and fall unnatural.

It is difficult to detect the contact of the wheel on the inner side of the pipe due to the foreign substance inside the pipe, and therefore, the inside of the pipe can not be detected, There are problems that are difficult or impossible.

In order to solve such a problem, the present invention is characterized in that the size of the robot is changed by folding and unfolding by a link structure according to the size of the pipe, by detecting the contact of the wheel with the proximity sensor, And it is an object of the present invention to provide a variable type robot for exploring a pipe topography search capable of exploring the inside of a pipe irrespective of the size of the pipe.

According to an aspect of the present invention, there is provided a variable-

A robot body having a front plate 106 and a rear plate 101 formed to have a predetermined thickness and spaced apart from each other by a predetermined distance to connect the front plate 106 and the rear plate 101 to each other with a longitudinal pillar 105;

A fixing bracket 120 coupled to one side of the rear plate 101 and provided with a rod drive motor 115 at a central portion thereof;

A longitudinal screw rod 104 rotatably driven by the rod driving motor 115 and formed with a male screw on an outer circumferential surface thereof;

A moving bracket 140 having a through-hole formed therethrough to pass through the screw rod 104 and having a female screw formed on an inner circumferential surface of the through-hole so as to engage with the male screw of the screw rod 104;

The connection brackets 130 and 132 are disposed along the circumferential direction of the screw rod 104 and have one end rotatably hinged to the fitting members 122, 124, and 125 protruding from the outer circumferential surface of the fixing bracket 120. , 134);

144 and 146 projecting from the outer circumferential surface of the moving bracket 140 and one end of which is hinged to the intermediate point of the connecting links 130, 132 and 134, An auxiliary link (150, 152, 154);

A traveling wheel 156 mounted on one side of the other end of the connecting links 130, 132 and 134 and contacting the inner circumferential surface of the pipe 107;

The other end of the connecting link 130, 132, and 134 is axially coupled to the traveling wheel 156 to rotate the traveling wheel 156, and a proximity sensor (not shown) A wheel drive motor 157 for attaching the drive wheel 162; And

And a resilient rod-shaped elastic support frame 161 coupled to one side of the wheel drive motor 157 and coupled to the auxiliary wheel 160 at one end thereof, The movable bracket 140 is moved forward or backward in accordance with the rotation direction of the screw rod 104 so that the connection links 130, 132, 134 and the auxiliary links 150, 152, 154 are folded and unfolded to change the overall size.

According to the above-described configuration, the present invention has an effect that the inside of the pipe can be explored irrespective of changes in the inner size of the pipe.

According to the present invention, the size of the robot can be freely varied by folding and unfolding in a link structure according to the size of the pipe, thereby facilitating the movement of the pipe.

The present invention realizes the proximity sensor as to whether or not the wheels are in contact with each other, thereby preventing the occurrence of data errors because the wheels are not in contact with each other.

1 to 3 are perspective views illustrating a configuration of a flexible type robot for exploring a pipe topography according to an embodiment of the present invention.
FIG. 4 is a front view showing a flexible type robot for exploring a pipe topography according to an embodiment of the present invention.
5 is a view showing a moving bracket and a fixing bracket according to an embodiment of the present invention.
6 is a view showing a movement of the auxiliary wheel according to the embodiment of the present invention.

Throughout the specification, when an element is referred to as "comprising ", it means that it can include other elements as well, without excluding other elements unless specifically stated otherwise.

FIG. 4 is a front view illustrating a pipe type geomorphological exploration exploration searchable robot according to an embodiment of the present invention. FIG. 4 is a front view showing a variable type robot for exploring a pipe geomorphological exploration according to an embodiment of the present invention. 5 is a view showing a moving bracket and a fixing bracket according to an embodiment of the present invention, and FIG. 6 is a view showing a moving state of the auxiliary wheel according to the embodiment of the present invention.

The variable geometry robot 100 for exploring a pipe topography search according to an embodiment of the present invention includes a robot body, a power supply unit 102, a control module 103, and a screw rod 104.

The front and rear plates 106 and 101 of the robot body are spaced apart from each other by a predetermined distance to connect the front plate 106 and the rear plate 101 to each other through the longitudinal pillar 105.

The column portion 105 connects between the front plate 106 and the rear plate 101 and has a screw rod 104 at an intermediate point and two lengths at the upper and lower points with respect to the screw rod 104 (105) of the screw rod (104) is longer than the screw rod (104).

The front panel 106 is provided with a camera module 110 at the center of the front face and infrared sensors 111, 112, 113 and 114 are provided on the front, back, left and right sides of the camera module 110, respectively.

The camera module 110 captures an image of the inner diameter of the pipe 107 and transmits the image information to an image analyzing device connected to the outside. The image analysis apparatus analyzes the image of the inside diameter of the pipe 107 through a histogram comparison algorithm or the like to determine whether or not the inside of the pipe 107 is abnormal.

This is not a major feature of the present invention, and the image analysis is well known in the art and will not be described in detail.

The control module 103 is provided with a fixing bracket 120 on its front portion and the fixing bracket 120 is provided with a rod drive motor 115 capable of rotating the screw rod 104 in both directions through a through- Respectively. The fixing bracket 120 includes a circular fixing body 121 having a through hole through which the rod driving motor 115 is inserted and six fixing members 122 and 123 at regular intervals along the circular rim of the fixing body 121 , 124, 125, 126, 127 are formed.

Each of the shim members 122, 123, 124, 125, 126, and 127 is radially spaced apart from one another at intervals of 60 degrees along the circular rim of the fixed body 121, and the first shim 122, And includes a bottom member 123, a third bottom member 124, a fourth bottom member 125, a fifth bottom member 126, and a sixth bottom member 127.

Each of the engaging members 122, 123, 124, 125, 126, and 127 is a rod member protruding from the outer circumferential surface of the circular fixed body 121 by a predetermined length, and the rod members are spaced apart from each other And a connecting link is fitted in a spaced space between the rod member and the rod member so that a pair of rod members and connecting links 130, 132, 134 or auxiliary links 151, 153, 155 are integrally connected to the connecting member And are hinged together.

In other words, the fixing bracket 120 includes a circular fixing body 121, a first fitting member 122 formed at a 12 o'clock position in the circular rim of the fixing body 121, The third and fourth fitting members 124, 125, 125, 126 and 127 are spaced from each other at intervals of 60 degrees in the direction And,

The rod drive motor 115 is provided with a screw rod 104 in its longitudinal direction at its central portion.

A moving bracket 140 is screwed to one side of the screw rod 104 and a moving bracket 140 is positioned between the camera module 110 and the rod driving motor 115 in the screw rod 104.

The moving bracket 140 has a through-hole formed at a central portion thereof so as to pass through the screw rod 104, and a female screw is formed on the inner circumferential surface of the through-hole so as to engage with the male screw formed on the outer circumferential surface of the screw rod 104.

Therefore, when the screw rod 104 is rotated by the rod drive motor 115, the movable bracket 140 is advanced or reversed.

The moving bracket 140 includes a circular bracket body 141 having a through hole formed at the center thereof and six engaging members 142, 143, 144, 145, 146, and 147 at regular intervals along the circular rim of the bracket body 141 Is formed.

Each of the engaging members 142, 143, 144, 145, 146, and 147 is radially disposed at intervals of 60 degrees along the circular rim of the bracket body 141, and the first engaging member 142, A third engageable member 144, a fourth engageable member 145, a fifth engageable member 146 and a sixth engageable member 147. The engaging member 143, the third engaging member 144, the fourth engaging member 145, the fifth engaging member 146,

Each of the engaging members 142, 143, 144, 145, 146, and 147 is spaced apart from one another at intervals of 60 degrees along the circular rim of the bracket body 141 and is spaced apart from the outer peripheral surface of the circular bracket body 141 by a predetermined length And the auxiliary members (150, 152, 154) or the connecting links (131, 152, 154) are provided in a spaced space between the rod member and the rod member, 133, and 135 are integrally hinged by the connecting member.

In other words, the moving bracket 140 includes a circular bracket body 141, a first engaging member 142 formed at 12 o'clock on the circular rim of the bracket body 141, The third engaging member 144, the fourth engaging member 145, the fifth engaging member 146, and the sixth engaging member 147 are separated from each other at intervals of 60 degrees in the direction do.

The first end piece 122, the third end piece 124 and the fifth end piece 126 are connected to one end of the first connection link 130, the third connection link 132, And a driving wheel 156 is coupled to the other end of the first connecting link 130, the third connecting link 132, and the fifth connecting link 134, respectively.

The first coupling member 142, the third coupling member 144 and the fifth coupling member 146 are connected to the first auxiliary link 150, the third auxiliary link 152, the fifth auxiliary link 154, And the other ends of the first auxiliary link 150, the third auxiliary link 152 and the fifth auxiliary link 154 are rotatably coupled to the respective first connection links 130, 132, and the fifth connecting link 134, respectively.

The fourth joining member 145 and the sixth joining member 147 are connected to the second connecting link 131, the fourth connecting link 133, the sixth connecting link 135, And a traveling wheel 156 is coupled to the other end of the second connecting link 131, the fourth connecting link 133 and the sixth connecting link 135, respectively.

The second bottom member 123, the fourth bottom member 125 and the sixth bottom member 127 are connected to one end of the second auxiliary link 151, the fourth auxiliary link 153, the sixth auxiliary link 155, And the other ends of the second auxiliary link 151, the fourth auxiliary link 153 and the sixth auxiliary link 155 are connected to the second connection link 131 and the fourth connection link 155, respectively, 133 and the sixth connecting link 135, respectively.

The auxiliary links 150, 151, 152, 153, 154, and 155 are formed by connecting two rectangular rod members of constant thickness and are connected to each other by a piece or a rotatable connecting member at a point where the rod members are connected.

The other end of the connection links 130, 131, 132, 133, 134 and 135 is provided with a traveling wheel 156 which is in contact with the inner circumferential surface of the pipe 107 on one side and is axially coupled with the traveling wheel 156 on the other side A wheel drive motor 157 for rotating the traveling wheel 156 is coupled.

The connecting links 130, 131, 132, 133, 134 and 135 are longer in width or longer than the auxiliary links 150, 151, 152, 153, 154 and 155.

The connection links 130, 131, 132, 133, 134, and 135 are formed to have a rectangular shape at a portion where the wheel drive motor 157 is coupled to the other side where the driving wheels 156 are coupled.

The wheel drive motor 157 installed on the first connection link 130, the third connection link 132 and the fifth connection link 134 is a rod-shaped elastic support member having a function of returning to its original form with a restoring force 161, and a proximity sensor 162 is mounted on the upper surface.

The elastic support base 161 is provided with the auxiliary wheel 160 at one end and the periphery of the elastic support base 161 which is parallel to the auxiliary wheel 160 and parallel to the proximity sensor 162, (163) to prevent the proximity sensor (162) from operating.

When the robot 100 comes into contact with the object of the pipe 107 when the robot 100 enters the inside of the pipe 107, the auxiliary wheel 160 contacts first and the driving wheel 156 comes into contact. Therefore, the auxiliary wheel 160 is installed at a height different from that of the traveling wheel 156 so as to be closer to the inner circumferential surface of the pipe 107 than the traveling wheel 156.

The control module 103 actuates the rod drive motor 115 to rotate the screw rod 104 such that the movable bracket 140 is advanced or retracted along the screw rod 104 and accordingly the auxiliary links 150, 152, 153, 154 and 155 and the connecting links 130, 131, 132, 133, 134 and 135 are rotated by the fitting members of the fixing bracket 120 and the connecting member of the moving bracket 140, Is folded or unfolded at an angle. That is, the total size of the variable-type robot 100 for exploring the pipe topography exploration changes.

1 to 6, a description will be made in detail of the process of exploring and searching the pipe topography by entering the inside of the pipe 107 by the flexible type robot 100 for exploration of the pipe topographical exploration exploration.

When the auxiliary robot 100 enters the pipe 107 in a state where the auxiliary link and the connection link are collapsed, the robot 100 searches for four top, bottom, left and right infrared sensors 111 112, 113 and 114, and transmits the distance information to the control module 103.

The control module 103 calculates the inner diameter of the pipe 107 using the sum of the distance information of the pipe 107, The calculation of the inner diameter of the pipe 107 using the distance information by the infrared sensors 111, 112, 113, and 114 is a well known description and will not be described in detail.

The control module 103 rotates the screw rod 104 by controlling the rod drive motor 115 in accordance with the difference between the size of the predetermined robot 100 and the calculated inner diameter of the pipe 107. [ Here, the size of the predetermined initial robot 100 may be determined by assuming that a virtual circle is drawn based on the outermost periphery of the robot 100 (the auxiliary wheel 160, the driving wheel 156, etc.) .

The load driving motor 115 rotates at a maximum of 6 RPM, and the overall size of the robot 100 is increased or decreased by 0.42 cm per rotation.

The control module 103 moves the movable bracket 140 forward and backward in accordance with the pitch of the screw rod 104 in accordance with the rotation of the rod drive motor 115 and moves the auxiliary link 150, 151, 152, 153, 154, 155 The sizes of the robot 100 are changed according to the folding and spreading of the connecting links 130, 131, 132, 133, 134 and 135.

However, when the inner diameter of the pipe 107 is incorrectly calculated due to the error of the infrared sensors 111, 112, 113, 114 and the size of the robot 100 is set larger than the inner diameter of the actual pipe 107, The robot 100 may be damaged because a load is applied to the connection links 130, 131, 132, 133, 134, 135 and the links 150, 151, 152, 153,

In order to solve this problem, the robot 100 first contacts the inner circumferential surface of the pipe 107 because the auxiliary wheel 160 is disposed closer to the inner circumferential surface of the pipe 107 than the traveling wheel 156, 156 in this order.

The auxiliary wheel 160 is rotated at a predetermined angle with respect to the rotation axis 164 of the elastic support table 161 so that the proximity sensor 162 The silver foil member 163 of the elastic supporter 161 which has been covered by the elastic supporting member 161 is moved and the proximity sensor 162 is operated in the ON state. Next, the proximity sensor 162 is turned on to detect whether or not the inner circumferential surface of the pipe 107 is in contact. The proximity sensor 162 is designed to sense a contact point within 1 mm.

The auxiliary wheel 160 rotates at a certain angle with respect to the rotational axis 164 of the elastic support 161 when the auxiliary wheel 160 contacts the object inside the pipe 107 When the contact point between the traveling wheel 156 and the auxiliary wheel 160 is present on one horizontal line, the proximity sensor 162 operates in an ON state to detect whether or not the inner circumferential surface of the pipe 107 is in contact.

The control module 103 turns off the rod driving motor 115 to stop the rotation of the screw rod 104 when the proximity sensor 162 detects the contact information by the movement of the auxiliary wheel 160. [

Thus, the size of the robot 100 can be limited, and damage to the robot 100 can be prevented.

If it is impossible to measure the inside diameter of the pipe 107 due to a problem (foreign matter such as a breakdown or mud) of the infrared sensors 111, 112, 113 and 114 of the robot 100, The inner diameter of the pipe 107 can be measured in a contact state of the auxiliary wheel 160 and the proximity sensor 162 provided on the robot 100. [

When the robot 100 does not measure the inner diameter of the pipe 107 or the inner diameter of the pipe 107 by the infrared sensors 111, 112, 113 and 114, When the screw rod 104 is rotated by operating the screw rod 115, the folded auxiliary link and the connection link are opened.

The control module 103 rotates when the auxiliary wheel 160 contacts the object while expanding the size of the robot 100 by spreading the auxiliary link and the connection link and when the contact information is detected by the proximity sensor 162, The motor 115 is stopped.

At this time, the control module 103 uses the rod driving motor 115 having a rotation speed of 6 RPM (6 revolutions per minute) in the course of raising the size of the robot 100, and the robot 100 having 0.42 cm per revolution, It is possible to measure the inner diameter of the pipe 107 by comparing the size of the robot 100 with the size of the predetermined initial robot 100.

The robot 100 may measure the inner diameter of the pipe 107 using the auxiliary wheel 160 and the proximity sensor 162 even when the infrared sensors 111, 112, 113, It is possible.

The embodiments of the present invention described above are not implemented only by the apparatus and / or method, but may be implemented through a program for realizing functions corresponding to the configuration of the embodiment of the present invention, a recording medium on which the program is recorded And such an embodiment can be easily implemented by those skilled in the art from the description of the embodiments described above.

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 belongs to the scope of right.

100: variable type robot 101: rear plate
102: power supply unit 103: control module
104: screw rod 105:
106: front plate 107: pipe
110: camera module 111, 112, 113, 114: infrared sensor
115: Rod drive motor 120: Fixing bracket
121: fixed body 122: first fitting member
123: second bottom member 124: third bottom member
125: fourth fitting member 126: fifth fitting member
127: sixth seam member 130: first connecting link
131: second connection link 132: third connection link
133: fourth connection link 134: fifth connection link
135: sixth connection link 140: movable bracket
141: bracket body 142: first engagement member
143: second coupling member 144: third coupling member
145: fourth coupling member 146: fifth coupling member
147: sixth coupling member 150: first auxiliary link
151: second auxiliary link 152: third auxiliary link
153: fourth auxiliary link 154: fifth auxiliary link
155: sixth auxiliary link 156: running wheel
157: wheel drive motor 160: auxiliary wheel
161: Elastic support 162: Proximity sensor
163: Silver foil member 164:

Claims (10)

1. A pipe type geomorphological exploratory search robot for measuring the presence or absence of an inside of a pipe (107) while being inserted into a pipe (107)
A robot body having a front plate 106 and a rear plate 101 formed to have a predetermined thickness and spaced apart from each other by a predetermined distance to connect the front plate 106 and the rear plate 101 to each other with a longitudinal pillar 105;
A fixing bracket 120 coupled to one side of the rear plate 101 and provided with a rod drive motor 115 at a central portion thereof;
A longitudinal screw rod 104 rotatably driven by the rod driving motor 115 and formed with a male screw on an outer circumferential surface thereof;
A moving bracket 140 having a through-hole formed therethrough to pass through the screw rod 104 and having a female screw formed on an inner circumferential surface of the through-hole so as to engage with the male screw of the screw rod 104;
The connection brackets 130 and 132 are disposed along the circumferential direction of the screw rod 104 and have one end rotatably hinged to the fitting members 122, 124, and 125 protruding from the outer circumferential surface of the fixing bracket 120. , 134);
144 and 146 projecting from the outer circumferential surface of the moving bracket 140 and one end of which is hinged to the intermediate point of the connecting links 130, 132 and 134, An auxiliary link (150, 152, 154);
A traveling wheel 156 mounted on one side of the other end of the connecting links 130, 132 and 134 and contacting the inner circumferential surface of the pipe 107;
The other end of the connecting link 130, 132, and 134 is axially coupled to the traveling wheel 156 to rotate the traveling wheel 156, and a proximity sensor (not shown) A wheel drive motor 157 for attaching the drive wheel 162; And
And a resilient rod-shaped elastic support frame 161 coupled to one side of the wheel drive motor 157 and coupled to the auxiliary wheel 160 at one end thereof, The movable bracket 140 is moved forward or backward in accordance with the rotation direction of the screw rod 104 so that the connection links 130, 132, 134) and the auxiliary links (150, 152, 154) are folded and unfolded to change their overall size. The method according to claim 1,
The elastic support base 161 is wound around the circumference of the elastic support base 161 which is in parallel with the auxiliary wheel 160 and parallel to the proximity sensor 162 with a silver foil member 163, When the sensor 162 is covered by the silver foil member 163 to keep the proximity sensor 162 in an off state and the auxiliary wheel 160 contacts an object when entering the inside of the pipe 107, Wherein the proximity sensor (162) is turned on by rotating at a predetermined angle with respect to the rotary shaft (164) of the elastic support base (161) to detect whether or not an object is contacted. The method according to claim 1,
Wherein the auxiliary wheel (160) is installed at a height different from that of the traveling wheel (156) so as to be closer to the inner circumferential surface of the pipe (107) than the traveling wheel (156). The method according to claim 1,
The auxiliary wheel 160 rotates at a predetermined angle with respect to the rotation axis 164 of the elastic support base 161 and contacts the traveling wheel 156 and the auxiliary wheel 160 when the auxiliary wheel 160 contacts an object when entering the pipe 107. [ Wherein when the contact point of the wheel (160) is present on one horizontal line, the proximity sensor (162) operates in an ON state to detect whether or not an object is contacted. The method according to claim 1,
The fixing bracket 120 includes a circular fixing body 121, a first fitting member 122 formed at a 12 o'clock position in a circular rim of the fixing body 121, The third and fourth fitting members 124, 125, 125, 126 and 127 are spaced from each other at intervals of 60 degrees in the direction The moving bracket 140 includes a circular bracket body 141 and a first engaging member 142 formed at a 12 o'clock position on the circular rim of the bracket body 141 and a second engaging member 142 formed from the first engaging member 142 The second engaging member 143, the third engaging member 144, the fourth engaging member 145, the fifth engaging member 146, and the second engaging member 142 are spaced from each other at intervals of 60 degrees in the clockwise direction, And the sixth joining member (147) is protruded. delete delete The method according to claim 1,
Infrared sensors 111, 112, 113 and 114 are installed on upper, lower, left and right sides of the front plate 106, respectively, and the pipes 107, A control module 103 for measuring the distance information on the upper and lower sides of the pipe 107 using the four infrared sensors 111, 112, 113 and 114 to calculate the inner diameter of the pipe 107, And the control module 103 controls the rod driving motor 115 according to a difference between the size of the predetermined robot and the calculated inner diameter of the pipe 107, And the movable bracket 140 changes its overall size while advancing and retracting. The rod driving motor 115 has a rotation speed of 6 rotations per minute (6 revolutions per minute) and a total size of a robot of 0.42 cm per revolution Wherein the pipe type is selected from the group consisting of: robot. The method according to claim 1,
When the auxiliary wheel 160 contacts the object by rotating the screw rod 104 by operating the rod driving motor 115 to extend the auxiliary link and the connection link, the rotation shaft 164 of the elastic support base 161 The proximity sensor 162 is turned on to detect whether or not an object is in contact with the object. When contact information of the object is detected by the proximity sensor 162, 115) for stopping the robot (100) is stopped. delete
KR1020150138365A 2015-07-31 2015-10-01 Variable Robot for Searching Pipe KR101741664B1 (en)

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KR20150108580 2015-07-31
KR1020150108580 2015-07-31

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KR20220048631A (en) * 2020-10-13 2022-04-20 탑전자산업 주식회사 Pipeline inspection system including an intelligent pipeline inspection robot equipped with an infrared sensor and a gyroscope sensor
KR20220071626A (en) * 2020-11-24 2022-05-31 한국로봇융합연구원 Pipe inspection robot having link and pipe inspection method using the same

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