KR102267719B1 - Appratus for inspecting pipe - Google Patents

Abstract

The present invention is to provide a pipe inspection apparatus capable of precisely inspecting pipes of various sizes with suitable parts. According to the present invention, the pipe inspection apparatus comprises: a moving cart which runs along an outer surface of a pipe in the longitudinal direction and rotates along an outer periphery; and an inspection module which includes a permanent magnet, a shoe and a back yoke providing a magnetic path for the permanent magnet, and a sensor for detecting leakage flux, and is detachably attached to the moving cart so as to be replaced with the permanent magnet and the shoe corresponding to the magnetic saturation varying according to the size and thickness of the pipe.

Description

Pipe inspection device {APPRATUS FOR INSPECTING PIPE}

The present invention relates to a pipe inspection device for inspecting defects such as cracks in the pipe as a pipe inspection device.

In general, a pipe inspection robot for inspecting a pipe is designed to fit a specific diameter of the pipe.

However, in the field situation, since various pipe diameters are connected, in order to increase actual work efficiency, it must be able to respond to changes in pipe specifications.

However, in the case of the existing pipe inspection robot (pipe inspection device), it can only be applied to a single size pipe, so in the section where the pipe size changes, the robot itself has to be changed or parts have to be replaced. is also reduced.

Specifically, when the size of the pipe changes, the magnetic saturation changes in the magnetic flux leakage (MFL) test method.

If the pipe changes in this way, the inspection unit (provided with a permanent magnet, sensor, and shoe) mounted on the pipe inspection robot must also change accordingly. Therefore, the inspection unit installed inside the pipe inspection robot is replaced or the pipe inspection robot is disassembled one by one. has to be replaced, which is inefficient in terms of time, labor load, and cost.

Republic of Korea Patent Publication No. 10-2011-0050909

The present invention was devised to solve the above problems, and an object of the present invention is to provide a pipe inspection apparatus capable of precisely inspecting pipes of various sizes with suitable parts.

In order to achieve the above object, a pipe inspection apparatus according to an embodiment of the present invention includes: a moving bogie that runs along the outer surface of the pipe in a longitudinal direction and rotates along the periphery; and a permanent magnet, a shoe and a back yoke providing a magnetic path for the permanent magnet, and a sensor for detecting leakage magnetic flux, wherein the permanent magnet and the shoe are replaced with a permanent magnet corresponding to a magnetic saturation varying according to the size and thickness of the pipe. It includes a; inspection module detachable from the moving cart.

Here, the inspection module may be configured as an electrical contact type, and may be in electrical contact when attached to the moving cart, and may be released from electrical contact when detached from the moving cart.

Specifically, as an embodiment, the moving bogie is formed with an electrical contact, and the inspection module is provided with a contact connector corresponding to the electrical contact, and by connecting the contact connector to the electrical contact, the moving bogie and electricity Upon contact, electricity is supplied from the electric supply unit of the moving bogie connected by a power cable from an external power source, and the inspection data sensed by the sensor can be transmitted to the information collecting unit of the moving bogie connected by an external controller and a communication cable. .

In this case, the contact connector may be of a pogo pin type.

And as another embodiment, the inspection module is a wireless type, and a battery and a wireless transmission module are mounted, electricity is supplied from the battery, and the inspection data sensed by the sensor is connected to an external controller by a communication cable. It can be transmitted through the wireless transmission module to the information collection unit of

On the other hand, in the above-described embodiments, a lower frame portion extending downward is formed on each of both lower sides of the moving bogie, and a detachable structure that is detachable from each other may be configured on the lower frame portion of the moving bogie and both sides of the inspection module. have.

Here, as the detachable structure, a fastening hole is formed in each of the lower frame portion of the moving bogie and both sides of the inspection module, and a fixing pin is inserted into the fastening hole so that the inspection module is attached to the moving bogie, The inserted fixing pin may be removed from the fastening hole to take a structure in which the inspection module is detached from the moving cart.

Furthermore, a guide groove is formed in one of the lower frame part of the moving bogie and both sides of the inspection module so that the inspection module is attached to the set position of the moving bogie, and the other is inserted into the guide groove. A guide projection is formed to move along the guide groove, and the guide groove may have a structure in which the inlet portion is relatively expanded.

On the other hand, the present invention is installed on the moving bogie, the fall prevention wire surrounding the pipe to block the fall of the moving bogie; And the fall prevention wire is non-interfering with the parts of the moving bogie, and is configured to hold the fall prevention wire while extending to both sides of the moving bogie to fix the position, Interference having fixed bars installed on both sides of the moving bogie It further includes an anti-fixing member.

In the pipe inspection apparatus according to the present invention, an inspection module detachable from the moving cart is configured to be replaced with a permanent magnet and a shoe corresponding to the magnetic saturation varying according to the size and thickness of the pipe, so that the pipe to be inspected is moved even if the standard changes. Without replacing the entire inspection device including the bogie, only the inspection module with the size of the permanent magnet and the shape of the shoe corresponding to the magnetic saturation of the pipe to be inspected can be replaced smoothly and easily. While performing efficiently in terms of side, labor load, and cost, it has the effect of precisely inspecting defects of pipes having various diameters and thicknesses.

1 is a view showing that the pipe inspection device of the present invention travels along the outer surface of the pipe.
2 is a view showing a pipe inspection apparatus according to an embodiment of the present invention.
3 is a view showing the lower part of the moving bogie and the inspection module in the pipe inspection apparatus of FIG.
4 is a view showing a pipe inspection apparatus according to another embodiment of the present invention.
FIG. 5 is a view showing an inspection module in the pipe inspection apparatus of FIG. 4 .

Hereinafter, it will be described in detail with reference to exemplary drawings of the present invention. Note that in adding reference numerals to the components of each drawing, the same components are given the same reference numerals as much as possible even though they are indicated in different drawings. In addition, in describing the present invention, if it is determined that a detailed description of a related known configuration or function may obscure the gist of the present invention, the detailed description thereof will be omitted.

1 is a view showing the pipe inspection device of the present invention traveling along the outer surface of the pipe, Figure 2 is a view showing the pipe inspection device according to an embodiment of the present invention, Figure 3 is the pipe inspection device of Figure 2 It is a diagram showing the lower part of the moving bogie and the inspection module.

In addition, FIG. 4 is a view showing a pipe inspection apparatus according to another embodiment of the present invention, and FIG. 5 is a view showing an inspection module in the pipe inspection apparatus of FIG. 4 .

Referring to the drawings, the pipe inspection apparatus according to the present invention includes a moving cart 100 and an inspection module 200 .

Here, the moving bogie 100 is configured to run on the outer surface of the pipe 1 in the longitudinal direction and rotate along the outer periphery.

Specifically, the moving bogie 100 may include a bogie body 110 and moving wheels 121 .

At this time, the bogie body 110 is connected to a power cable (not shown) from an external power source (not shown), and receives electricity from the power source through the power cable.

That is, the balance body 110 includes an electricity supply unit, and the electricity supply unit serves to supply electricity received from an external power source to the inspection module 200 to be described later through a power cable.

In addition, the bogie body 110 is connected from an external controller (not shown) to a communication cable (not shown), and communicates with the controller through a communication cable.

That is, the bogie body 110 includes an information collection unit. This information collection unit receives and collects inspection data sensed from a sensor 230 to be described later, and transmits it to an external controller through a communication cable. .

In addition, the mobile bogie 100 receives a command from an external controller through a communication cable to travel along the longitudinal direction of the outer surface of the pipe 1 or to receive control to rotate along the outer periphery of the pipe 1 Of course.

And, the moving wheel 121 is rotated along the outer periphery of the pipe 1 by having a structure that is rotated with respect to the bogie body 110 by the wheel mount 122 hinged to the bogie body 110 . When it takes the direction as shown in FIGS. 1, 2, and 4, when traveling along the longitudinal direction of the outer surface of the pipe 1, although not shown in the drawings, the wheel mounting bracket 122 is hinged. and the direction of the moving wheel 121 is changed by 90 degrees.

Meanwhile, the inspection module 200 includes a permanent magnet 210 , a shoe 211 and a back yoke 222 , and a sensor 230 as shown in FIG. 1 .

The permanent magnet 210 magnetizes the pipe 1 so that the sensor 230 measures leakage magnetic flux in a defect such as a crack formed in the pipe 1 to detect the defect.

In addition, the shoe 211 and the back yoke 222 form a magnetic path with respect to the permanent magnet 210, wherein the shoe 211 is the permanent magnet 210. In the pipe (1) is disposed on the side portion, the back yoke 222 is disposed on the side opposite to the pipe (1) in the permanent magnet (210).

In addition, the sensor 230 serves to measure the leakage flux of the pipe 1 , and is disposed between the two permanent magnets 210 .

The inspection module 200 configured in this way must satisfy the following conditions, so that the sensor 230 can accurately measure the defect of the pipe 1 .

First, the size of the permanent magnet 210 should be determined to satisfy the magnetic saturation of the pipe 1 . When the thickness of the pipe (1) becomes thicker, as the magnetic saturation increases, the size of the magnet must be enlarged to satisfy the magnetic saturation. should be reduced

In addition, the shoe 211 should take the shape of maintaining a predetermined distance from the outer surface of the pipe (1). Accordingly, the shoe 211 should take a structure that matches the curved shape of the outer periphery of the pipe 1 so as to correspond to the curvature of the pipe 1 .

However, the existing pipe inspection device has a structure in which a permanent magnet, a shoe and a back yoke, and a sensor are all installed and fixed on a moving cart, so that when the size of the pipe to be inspected changes, the pipe inspection device is replaced or , or as it is necessary to disassemble the pipe inspection device and replace the permanent magnet and shoe mounted therein, it is inefficient in terms of time, labor load, and cost.

In order to solve this inefficient part, the pipe inspection apparatus according to the present invention includes an inspection module 200 (having a permanent magnet 210 , a shoe 211 and a back yoke 222 , and a sensor 230 ) is a moving cart. It is characterized in that it is configured to be detachable from (100).

That is, in the present invention, so that the inspection module 200 can be smoothly and easily replaced with the permanent magnet 210 and the shoe 211 corresponding to the magnetic saturation varying according to the size and thickness of the pipe 1, the moving bogie ( 100) is configured to be detachable.

Specifically, the magnetic saturation changes according to the size and thickness of the pipe 1, and the present invention relates to the inspection module 200 satisfying the changing magnetic saturation, that is, the size of the permanent magnet 210 corresponding to the magnetic saturation. And the inspection module 200 having the shape of the shoe 211, so that it can be configured smoothly and easily, it takes a structure in which the inspection module 200 is attached to and detached from the moving bogie 100.

A detailed look at such a detachable structure is as follows.

As shown in FIGS. 2 and 3 as an embodiment, the inspection module 200 is of an electrical contact type, and is electrically contacted when attached to the moving bogie 100 and electrically contacted when detached from the moving bogie 100 , as shown in FIGS. 2 and 3 . This release structure can be taken.

To this end, the moving bogie 100 may have an electrical contact part 150 , and the inspection module 200 may have a contact connector 250 corresponding to the electrical contact part 150 .

Accordingly, when the inspection module 200 is in electrical contact with the moving cart 100 through the connection of the contact connector 250 to the electrical contact unit 150 , electricity may be supplied and inspection data may be transmitted.

More specifically, the inspection module 200 is supplied with electricity from the electric supply unit of the mobile bogie 100 connected to the power cable from an external power source when in electrical contact with the mobile bogie 100, and connected to the external controller by a communication cable. The inspection data sensed by the sensor 230 may be transmitted to the information collection unit of the mobile bogie 100 .

At this time, the contact connector 250 may be configured as a pogo pin type. Accordingly, when the contact connector 150 is disposed to face each other and makes contact with each other, the electrical contact can be firmly maintained.

Meanwhile, the test module 200 is another embodiment, and as shown in FIGS. 4 and 5 , the test module 200 is a wireless type, and a battery 280 and a wireless transmission module 290 may be mounted thereon. .

Accordingly, the test module 200 may be supplied with electricity by the battery 280 and transmit test data by the wireless transmission module 290 .

More specifically, the inspection module 200 is supplied with electricity from the battery 280, and the inspection data sensed by the sensor 230 is wirelessly transferred to the information collection unit of the mobile bogie 100 connected by a communication cable with an external controller. It can be transmitted through the transmission module 290 .

On the other hand, in the embodiments as described above, the inspection module 200 may take a structure detachable from the lower portion of the moving cart 100 .

That is, a lower frame portion 130 extending downward is formed on both lower sides of the moving bogie 100 , and both sides of the lower frame unit 130 and the inspection module 200 of the moving bogie 100 are detachable from each other. A detachable structure may be configured.

Specifically, as such a detachable structure, fastening holes 131 and 241 are formed on both sides of the lower frame part 130 of the moving bogie 100 and the inspection module 200, respectively, and the fastening holes 131 ( A fixing pin (not shown) is inserted into the 241 , and the inspection module 200 is attached to the moving cart 100 , or the inserted fixing pin is pulled out from the fastening holes 131 and 241 , and the inspection module is removed from the moving cart 100 . (200) may take a structure in which it is removed.

Furthermore, the present invention is not limited by the above-described detachable structure, and can be detached with a pogo pin, or attached and detached by a conventional fastening member, attached and detached by a conventional clamp structure, etc., a moving bogie ( It goes without saying that any conventional detachable structure can be utilized as long as the inspection module 200 is a detachable structure that can be attached and detached smoothly and easily with respect to 100).

In addition, it may have a guide structure so that it can be easily attached when assembling, ie, attaching, the inspection module 200 to the moving cart 100 .

Specifically, a guide is provided on one of both sides of the lower frame part 130 and the inspection module 200 of the moving bogie 100 so that the inspection module 200 is attached to the set position of the moving bogie 100 to guide it. A groove is formed, and a guide protrusion that is inserted into the guide groove and moves along the guide groove may be formed in the other one.

As an example, as shown in the drawing, a guide groove 242 may be formed in the inspection module 200 , and a guide protrusion 132 may be formed in the moving cart 100 .

Accordingly, in the inspection module 200, the both sides overlap the lower frame part 130 of the moving bogie 100, and the fastening holes 241 of both sides overlap the fastening holes 131 of the lower frame part 130 to communicate with each other. By being placed in the position, it can be easily attached to, that is, assembled to the moving cart 100 by means of a fixing pin.

Furthermore, in this case, the guide groove 242 may have a structure in which the inlet portion 242a is relatively expanded.

That is, the guide groove 242 has a structure in which the width of the inlet portion 242a is larger than that of other portions, so that when the guide protrusion 132 enters the guide groove 242 , the guide groove 242 has a larger inlet portion. Due to the 242a, it can be smoothly introduced into the guide groove 242.

On the other hand, the present invention may further include a fall prevention wire 300, an interference prevention fixing member (400).

The fall prevention wire 300 is installed on the moving bogie 100 and has a structure surrounding the pipe 1 to block the fall of the moving bogie 100 .

Specifically, the fall prevention wire 300 may have one end connected to one side of the moving bogie 100 and the other end connected to the other end of the moving bogie 100 .

The fall prevention wire 300 is formed larger than the outer periphery length of the pipe 1 so as not to interfere with the pipe 1 when the moving bogie 100 runs or rotates the pipe 1 .

And, the anti-interference fixing member 400 is installed on both sides of the moving bogie (100).

This interference prevention fixing member 400 serves to prevent the fall prevention wire 300 from interfering with the parts of the moving bogie 100, as an example, the fall prevention wire 300 is the moving wheel of the moving bogie 100. It is configured to prevent this as it is impossible to run and rotate the mobile bogie 100 when it is caught and wound.

Specifically, the anti-interference fixing member 400 is configured to hold the fall prevention wire 300 while extending to both sides of the moving bogie 100 to fix the position.

As an example, the anti-interference fixing member 400 has a fixing bar 420 installed on both sides of the moving bogie 100, and when holding the fall prevention wire 300, the hard structure of the fixing bar 420 is The fall prevention wire 300 is not struck by the fall prevention wire 300 forms an arrangement structure in which the position is fixed to a certain length from both sides of the moving bogie 100 to both sides.

More specifically, the anti-interference fixing member 400 has a structure in which a fixing bar 420 is built in a flexible tube 410, and when both ends of the fall prevention wire 300 are also built in this tube 410, fall prevention As the wire 300 is held by the interference prevention fixing member 400, both ends of the fall prevention wire 300 also maintain a fixed arrangement structure.

As a result, the pipe inspection apparatus according to the present invention is a test that is detachably attached to the moving bogie 100 so as to be replaced with a permanent magnet 210 and a shoe 211 corresponding to the magnetic saturation varying according to the size and thickness of the pipe 1 . By configuring the module 200, even if the standard of the pipe 1 to be inspected changes, the entire inspection device including the moving cart 100 is not replaced, and a permanent magnet corresponding to the magnetic saturation of the pipe 1 to be inspected ( As only the inspection module 200 having the size of 210 and the shape of the shoe 211 can be smoothly and easily replaced, the inspection of the pipe 1 is performed in terms of time, labor load, and cost. It is possible to precisely inspect the defects of the pipe 1 having various diameters and thicknesses while performing efficiently in the present invention.

As described above, although the present invention has been described with reference to limited embodiments and drawings, the present invention is not limited thereto, and the technical idea of the present invention and the following by those skilled in the art to which the present invention pertains. Of course, various modifications and variations are possible within the scope of equivalents of the claims to be described.

1: Plumbing
100: mobile bogie 110: bogie body
121: moving wheel 122: wheel mount
130: lower frame part 131: fastening hole
132: guide projection
150: electrical contact 200: inspection module
210: permanent magnet 221: shoe
222: back yoke 230: sensor
241: fastening hole 242: guide groove
242a: inlet
250: contact connector 280: battery
290: wireless transmission module
300: fall prevention wire 400: interference prevention fixing member
410: tube 420: fixed bar

Claims (9)

a moving cart that runs along the outer surface of the pipe in the longitudinal direction and rotates along the outer periphery; and
A permanent magnet, a shoe and a back yoke for providing a magnetic path for the permanent magnet, and a sensor for detecting leakage magnetic flux, the movement of which is replaced by a permanent magnet and a shoe corresponding to magnetic saturation varying according to the size and thickness of the pipe Inspection module detachable from the bogie; includes,
a fall prevention wire installed on the moving bogie and surrounding the pipe to block the fall of the moving bogie; and
The fall prevention wire is non-interfering with the parts of the moving bogie, and is configured to hold the fall prevention wire while extending to both sides of the moving bogie to fix the position, Interference prevention with fixed bars installed on both sides of the moving bogie fixing member;
Pipe inspection device, characterized in that it further comprises.
According to claim 1,
The inspection module is configured of an electrical contact type, and is electrically contacted when attached to the moving cart, and the electrical contact is released when detached from the moving cart.
3. The method of claim 2,
The moving cart is formed with an electrical contact,
The inspection module is
A contact connector corresponding to the electrical contact is formed,
When the moving bogie is in electrical contact with the connection of the contact connector to the electrical contact part, electricity is supplied from the electric supply of the moving bogie connected by a power cable from an external power source, and the moving bogie is connected to an external controller by a communication cable Pipe inspection apparatus, characterized in that for transmitting the inspection data sensed by the sensor to the information collection unit of the.
4. The method of claim 3,
The contact connector is a pipe inspection device, characterized in that it is composed of a pogo pin (pogo pin) type.
According to claim 1,
The inspection module is
As a wireless type, it is equipped with a battery and a wireless transmission module.
Electricity is supplied from the battery, and the inspection data sensed by the sensor is transmitted through a wireless transmission module to the information collection unit of the mobile bogie connected by an external controller and a communication cable.
Pipe inspection device, characterized in that.
6. The method of claim 3 or 5,
A lower frame portion extending downward is formed on each of both lower sides of the moving cart,
A pipe inspection apparatus, characterized in that the lower frame portion of the moving bogie and the both sides of the inspection module are configured to have a detachable structure that is detachable from each other.
7. The method of claim 6,
As the detachable structure, fastening holes are formed in each of the lower frame portion of the moving bogie and both sides of the inspection module, and a fixing pin is inserted into the fastening hole to attach or insert the inspection module to the moving bogie. A pipe inspection apparatus, characterized in that the fixing pin is removed from the fastening hole and the inspection module is removed from the moving cart.
6. The method of claim 3 or 5,
A guide groove is formed in one of the lower frame portion of the moving bogie and both sides of the inspection module, and the other is inserted into the guide groove to guide the inspection module to be attached to the set position of the moving bogie. A guide protrusion moving along the groove is formed, and the guide groove has a structure in which the inlet portion is relatively expanded.
delete

Images