KR102456979B9 - A pipe inspection robot and operating method of the same - Google Patents

A pipe inspection robot and operating method of the same

Info

Publication number
KR102456979B9
KR102456979B9 KR1020200163951A KR20200163951A KR102456979B9 KR 102456979 B9 KR102456979 B9 KR 102456979B9 KR 1020200163951 A KR1020200163951 A KR 1020200163951A KR 20200163951 A KR20200163951 A KR 20200163951A KR 102456979 B9 KR102456979 B9 KR 102456979B9
Authority
KR
South Korea
Prior art keywords
same
operating method
inspection robot
pipe inspection
pipe
Prior art date
Application number
KR1020200163951A
Other languages
Korean (ko)
Other versions
KR20220075646A (en
KR102456979B1 (en
Inventor
정명수
이재열
홍성호
장민우
백종환
신동호
김상호
서갑호
Original Assignee
한국로봇융합연구원
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by 한국로봇융합연구원 filed Critical 한국로봇융합연구원
Priority to KR1020200163951A priority Critical patent/KR102456979B1/en
Publication of KR20220075646A publication Critical patent/KR20220075646A/en
Application granted granted Critical
Publication of KR102456979B1 publication Critical patent/KR102456979B1/en
Publication of KR102456979B9 publication Critical patent/KR102456979B9/en

Links

Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J11/00—Manipulators not otherwise provided for
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
    • B25J19/02—Sensing devices
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J5/00—Manipulators mounted on wheels or on carriages
    • B25J5/007—Manipulators mounted on wheels or on carriages mounted on wheels
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/0009—Constructional details, e.g. manipulator supports, bases
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/10—Programme-controlled manipulators characterised by positioning means for manipulator elements
    • B25J9/106—Programme-controlled manipulators characterised by positioning means for manipulator elements with articulated links
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/16—Programme controls
    • B25J9/1656—Programme controls characterised by programming, planning systems for manipulators
    • B25J9/1664—Programme controls characterised by programming, planning systems for manipulators characterised by motion, path, trajectory planning
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/16—Programme controls
    • B25J9/1694—Programme controls characterised by use of sensors other than normal servo-feedback from position, speed or acceleration sensors, perception control, multi-sensor controlled systems, sensor fusion
    • 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

Landscapes

  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Robotics (AREA)
  • Chemical & Material Sciences (AREA)
  • Combustion & Propulsion (AREA)
  • General Engineering & Computer Science (AREA)
  • Manipulator (AREA)
KR1020200163951A 2020-11-30 2020-11-30 A pipe inspection robot and operating method of the same KR102456979B1 (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
KR1020200163951A KR102456979B1 (en) 2020-11-30 2020-11-30 A pipe inspection robot and operating method of the same

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
KR1020200163951A KR102456979B1 (en) 2020-11-30 2020-11-30 A pipe inspection robot and operating method of the same

Publications (3)

Publication Number Publication Date
KR20220075646A KR20220075646A (en) 2022-06-08
KR102456979B1 KR102456979B1 (en) 2022-10-19
KR102456979B9 true KR102456979B9 (en) 2023-03-23

Family

ID=81981959

Family Applications (1)

Application Number Title Priority Date Filing Date
KR1020200163951A KR102456979B1 (en) 2020-11-30 2020-11-30 A pipe inspection robot and operating method of the same

Country Status (1)

Country Link
KR (1) KR102456979B1 (en)

Families Citing this family (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN117090286B (en) * 2023-10-16 2024-01-02 山西路桥市政工程有限公司 Municipal pipeline construction is with supplementary equipment of laying

Family Cites Families (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
KR101741664B1 (en) * 2015-07-31 2017-05-31 한국산업기술대학교산학협력단 Variable Robot for Searching Pipe
KR20170039402A (en) * 2015-10-01 2017-04-11 삼성중공업 주식회사 Moving robot
KR101641704B1 (en) 2015-12-02 2016-07-21 한국가스공사 Sensing unit of pipe inspection robot and sensing module of pipe inspection robot comprised of the sensing unit

Also Published As

Publication number Publication date
KR20220075646A (en) 2022-06-08
KR102456979B1 (en) 2022-10-19

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Legal Events

Date Code Title Description
AMND Amendment
E601 Decision to refuse application
X091 Application refused [patent]
AMND Amendment
X701 Decision to grant (after re-examination)
GRNT Written decision to grant
G170 Re-publication after modification of scope of protection [patent]