KR102589879B1 - Electromagnetic Ultrasonic Sensor Mounting Structure of Mobile Inspection Robot - Google Patents

Electromagnetic Ultrasonic Sensor Mounting Structure of Mobile Inspection Robot Download PDF

Info

Publication number
KR102589879B1
KR102589879B1 KR1020210155499A KR20210155499A KR102589879B1 KR 102589879 B1 KR102589879 B1 KR 102589879B1 KR 1020210155499 A KR1020210155499 A KR 1020210155499A KR 20210155499 A KR20210155499 A KR 20210155499A KR 102589879 B1 KR102589879 B1 KR 102589879B1
Authority
KR
South Korea
Prior art keywords
lifting
coupled
ultrasonic sensor
electromagnetic ultrasonic
plate
Prior art date
Application number
KR1020210155499A
Other languages
Korean (ko)
Other versions
KR20230069449A (en
Inventor
구본창
조갑호
남문호
Original Assignee
고려공업검사 주식회사
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 고려공업검사 주식회사 filed Critical 고려공업검사 주식회사
Priority to KR1020210155499A priority Critical patent/KR102589879B1/en
Publication of KR20230069449A publication Critical patent/KR20230069449A/en
Application granted granted Critical
Publication of KR102589879B1 publication Critical patent/KR102589879B1/en

Links

Images

Classifications

    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01N—INVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES
    • G01N29/00—Investigating or analysing materials by the use of ultrasonic, sonic or infrasonic waves; Visualisation of the interior of objects by transmitting ultrasonic or sonic waves through the object
    • G01N29/22—Details, e.g. general constructional or apparatus details
    • G01N29/225—Supports, positioning or alignment in moving situation
    • 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
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01D—MEASURING NOT SPECIALLY ADAPTED FOR A SPECIFIC VARIABLE; ARRANGEMENTS FOR MEASURING TWO OR MORE VARIABLES NOT COVERED IN A SINGLE OTHER SUBCLASS; TARIFF METERING APPARATUS; MEASURING OR TESTING NOT OTHERWISE PROVIDED FOR
    • G01D5/00—Mechanical means for transferring the output of a sensing member; Means for converting the output of a sensing member to another variable where the form or nature of the sensing member does not constrain the means for converting; Transducers not specially adapted for a specific variable
    • G01D5/12—Mechanical means for transferring the output of a sensing member; Means for converting the output of a sensing member to another variable where the form or nature of the sensing member does not constrain the means for converting; Transducers not specially adapted for a specific variable using electric or magnetic means
    • G01D5/244—Mechanical means for transferring the output of a sensing member; Means for converting the output of a sensing member to another variable where the form or nature of the sensing member does not constrain the means for converting; Transducers not specially adapted for a specific variable using electric or magnetic means influencing characteristics of pulses or pulse trains; generating pulses or pulse trains
    • G01D5/245—Mechanical means for transferring the output of a sensing member; Means for converting the output of a sensing member to another variable where the form or nature of the sensing member does not constrain the means for converting; Transducers not specially adapted for a specific variable using electric or magnetic means influencing characteristics of pulses or pulse trains; generating pulses or pulse trains using a variable number of pulses in a train
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01N—INVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES
    • G01N29/00—Investigating or analysing materials by the use of ultrasonic, sonic or infrasonic waves; Visualisation of the interior of objects by transmitting ultrasonic or sonic waves through the object
    • G01N29/04—Analysing solids
    • G01N29/041—Analysing solids on the surface of the material, e.g. using Lamb, Rayleigh or shear waves
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01N—INVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES
    • G01N29/00—Investigating or analysing materials by the use of ultrasonic, sonic or infrasonic waves; Visualisation of the interior of objects by transmitting ultrasonic or sonic waves through the object
    • G01N29/22—Details, e.g. general constructional or apparatus details
    • G01N29/26—Arrangements for orientation or scanning by relative movement of the head and the sensor
    • G01N29/265—Arrangements for orientation or scanning by relative movement of the head and the sensor by moving the sensor relative to a stationary material
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01N—INVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES
    • G01N2291/00—Indexing codes associated with group G01N29/00
    • G01N2291/02—Indexing codes associated with the analysed material
    • G01N2291/028—Material parameters
    • G01N2291/0289—Internal structure, e.g. defects, grain size, texture

Abstract

본 발명은 위험물이 저장된 저장탱크의 표면에 정해진 거리로 이격되어 탐상할 수 있도록 전후좌우 틸팅되는 구조의 센서하우징이 구비된 이동검사로봇의 전자기초음파센서 거치구조에 관한 것이다.The present invention relates to a structure for mounting an electromagnetic ultrasonic sensor of a mobile inspection robot equipped with a sensor housing that is tilted forward, backward, left, and right to enable flaw detection at a predetermined distance from the surface of a storage tank in which dangerous substances are stored.

Description

이동검사로봇의 전자기초음파센서 거치구조{Electromagnetic Ultrasonic Sensor Mounting Structure of Mobile Inspection Robot}Electromagnetic Ultrasonic Sensor Mounting Structure of Mobile Inspection Robot}

본 발명은 이동검사로봇의 전자기초음파센서 거치구조에 관한 것으로서, 보다 상세하게는 표면이 일정하지 않은 저장탱크의 표면을 탐지하는 전자기초음파센서가 정해진 거리로 근접되며 각도조절이 용이한 초음파센서하우징이 구비된 이동검사로봇의 전자기초음파센서 거치구조에 관한 것이다.The present invention relates to a mounting structure for an electromagnetic ultrasonic sensor of a mobile inspection robot. More specifically, the electromagnetic ultrasonic sensor, which detects the surface of a storage tank with an uneven surface, is approached at a predetermined distance and has an ultrasonic sensor housing that is easy to adjust the angle. This relates to the mounting structure of the electromagnetic ultrasound sensor of the equipped mobile inspection robot.

일반적으로 중화학설비의 저장탱크는 내부에 유류나 화학물질등이 저장되고, 저장된 유류나 화학물질이 외부로 누출되는 것을 차단하여야만 2차사고를 방지할 수 있다. 따라서, 중화학설비의 저장탱크는 제작이나 사용시 발생된 용접결함과 철판의 균열은 반드시 보수되어야만 2차사고를 미연에 방지할 수 있게 된다.In general, storage tanks of heavy chemical facilities store oil or chemicals inside, and secondary accidents can only be prevented by blocking the stored oil or chemicals from leaking to the outside. Therefore, welding defects and cracks in steel plates that occur during production or use of storage tanks in heavy chemical facilities must be repaired to prevent secondary accidents.

그러나, 저유탱크는 보통 크기가 대형으로 제작됨에 따라 비계와 같은 철제 구조물을 이용하여 검사자가 직접 비계에 탑승한 상태로 비파괴 검사장비를 이용하여 저유탱크의 균열이나 결함을 검사하게 됨으로써, 검사자의 부주의나 위험물 파악이 미흡한 경우 추락사고나 위험물 노출사고가 종종 발생되는 문제점이 있었다.However, as oil storage tanks are usually manufactured in large sizes, steel structures such as scaffolding are used, and the inspector is directly on the scaffold and uses non-destructive inspection equipment to inspect the oil storage tank for cracks or defects, which can lead to the inspector's carelessness. However, if the identification of dangerous substances was insufficient, there was a problem that accidents such as falls or exposure to dangerous substances often occurred.

또한, 저장탱크의 검사시 검사자의 수작업으로 모든 검사가 이루어지므로 검사자의 숙련도에 따라 검사 결과가 달라져 검사의 정확성을 담보하기 힘든 문제점이 있어 다양한 형태로 제작된 검사용 로봇이 제작되어 제안되고 있다.In addition, when inspecting a storage tank, all inspections are performed manually by the inspector, so the inspection results vary depending on the inspector's skill level, making it difficult to ensure the accuracy of the inspection. Therefore, inspection robots manufactured in various forms are being manufactured and proposed.

이와 관련된 종래기술로 한국등록특허 제10-1716717호(2017.03.09.)에는 '전자기 초음파 탐촉자를 이용한 저유탱크 용접부 결함 검사용 로봇'이 개시되었다.As a related prior art, Korean Patent No. 10-1716717 (2017.03.09.) discloses 'a robot for inspecting defects in oil storage tank welds using an electromagnetic ultrasonic probe'.

상기 종래기술은 로봇 본체; 상기 로봇 본체의 양측에 구비되고, 상기 로봇 본체가 피검체인 저유탱크에 달라붙어 이동할 수 있게 하는 자석바퀴; 상기 로봇 본체의 후면 일 측에 구비되고 상기 저유탱크와 접촉하며, 상기 저유탱크의 용접부로 특정 파형을 송신하는 EMAT 송신부; 상기 EMAT 송신부와 소정간격 이격되도록 상기 로봇 본체의 후면 타 측에 구비되고, 상기 저유탱크와 접촉하며 상기 용접부를 통해 전달되는 특정 파형을 수신하여 전기신호를 출력하는 EMAT 수신부; 상기 EMAT 송신부와 상기 저유탱크가 접촉되도록 상기 EMAT 송신부를 수용하는 송신부 수용부; 상기 EMAT 수신부와 상기 저유탱크가 접촉되도록 상기 EMAT 수신부를 수용하는 수신부 수용부; 상기 송신부 수용부와 상기 수신부 수용부가 소정간격 이격되도록 상기 송신부 수용부와 상기 수신부 수용부를 연결하는 송수신부 연결부;를 포함하는 송수신부 케이스; 및 상기 로봇 본체 내부에 구비되고 미리 설정된 결함 데이터를 저장하며, 상기 EMAT 수신부의 전기신호와 상기 결함 데이터를 비교하여 결함발생 여부를 판단하는 제어부;를 포함하여 구성된다.The prior art includes a robot body; Magnet wheels provided on both sides of the robot body and allowing the robot body to move by sticking to the oil storage tank that is the object of inspection; An EMAT transmitter provided on one rear side of the robot body, in contact with the oil storage tank, and transmitting a specific waveform to a welded portion of the oil storage tank; An EMAT receiver provided on the other rear side of the robot body to be spaced apart from the EMAT transmitter at a predetermined distance, contacts the oil storage tank, and outputs an electric signal by receiving a specific waveform transmitted through the welding part; A transmitter receiving unit that accommodates the EMAT transmitter so that the EMAT transmitter and the oil reservoir come into contact with each other; A receiving unit receiving unit for accommodating the EMAT receiving unit so that the EMAT receiving unit and the oil reservoir are in contact with each other; A transmitter/receiver case including; a transmitter/receiver connector connecting the transmitter receiver and the receiver receiver so that the transmitter receiver and the receiver receiver are spaced apart from each other at a predetermined distance; and a control unit provided inside the robot body, storing preset defect data, and comparing the electric signal of the EMAT receiver with the defect data to determine whether a defect has occurred.

상기 송수신부 연결부는 상기 로봇 본체가 이동될 때, 상기 용접부 상에서 상기 용접부와 서로 접촉하지 않으며 이동하게 하며, 상기 송신부 수용부와 상기 수신부 수용부가 하방으로 탄성을 가져, 상기 저유탱크에 밀착 되게 하며, When the robot body is moved, the transmitter/receiver connector moves on the welded portion without contacting the welded portion, and the transmitter accommodating portion and the receiving portion accommodating portion have downward elasticity to come into close contact with the oil storage tank,

상기 EMAT 송신부와 상기 EMAT 수신부는 각각 코일에 자기력을 제공하며, 서로 인접하여 구비되는 복수개의 영구자석; 및 상기 영구자석들의 하부에 위치하고, 전류가 인가되면, 상기 영구자석의 자기력에 의해 EMAT를 발진시키는 코일;을 포함하고, 상기 영구자석들은 인접하는 영구자석의 극성이 서로 다르게 배열되는 것을 특징으로 한다.The EMAT transmitting unit and the EMAT receiving unit each provide magnetic force to the coil and include a plurality of permanent magnets provided adjacent to each other; and a coil located below the permanent magnets and oscillating EMAT by the magnetic force of the permanent magnet when a current is applied, wherein the permanent magnets are arranged so that adjacent permanent magnets have different polarities. .

다만, 상기한 종래기술은 송수신부 연결부와 송신부 수용부 및 수신부 수용부가 송수신부 케이스를 통해 일체로 구비됨으로써, 균일하지 않은 표면을 탐지시에 송신부와 수신부의 위치가 탐지 표면과의 거리가 일정하지 못한 문제점이 있었다.However, in the above-described prior art, the transmitter/receiver connection portion, the transmitter accommodating portion, and the receiver accommodating portion are provided integrally through the transmitter/receiver case, so that when detecting an uneven surface, the positions of the transmitter and the receiver are not constant in distance from the detection surface. There was a problem that didn't work out.

본 발명은 상기와 같은 종래 기술의 문제점을 해결하기 위해 창작된 것으로 본 발명의 목적은 전자기초음파센서가 장착된 초음파센서하우징이 상하승강, 전후 좌우 틸팅이 용이하여 불규칙한 표면을 정해진 간격을 유지하며 탐상할 수 있는 초음파센서하우징이 구비된 이동검사로봇의 전자기초음파센서 거치구조를 제공함에 있다.The present invention was created to solve the problems of the prior art as described above. The purpose of the present invention is to enable an ultrasonic sensor housing equipped with an electromagnetic ultrasonic sensor to be easily lifted up and down, tilted back and forth, left and right, and inspect irregular surfaces while maintaining a set interval. The purpose is to provide an electromagnetic ultrasonic sensor mounting structure for a mobile inspection robot equipped with an ultrasonic sensor housing.

상기한 목적을 달성하기 위한 본 발명에 의한 이동검사로봇의 전자기초음파센서 거치구조는 위험물나 화학물질이 저장된 저장탱크의 균열이나 결함을 탐상하는 이동검사로봇에 장착된 전자기초음파센서 거치구조로서, 상기 전자기초음파센서가 상부에서 요입되어 하면이 노출되도록 중앙에 상하로 개구된 센서노출단이 구비된 센서하우징과; 상기 센서하우징이 전후방으로 틸팅되도록 상기 센서하우징의 양측부에 결합되어 후방으로 연장된 한쌍의 전후방회전축이 구비된 틸팅부와; 상기 틸팅부가 좌우로 틸팅되도록 상기 틸팅부의 중앙에 삽입되어 후방으로 연장된 좌우회전축과, 상기 좌우회전축의 타측단부가 결합되어 지지되는 회전축지지판이 구비된 회전축지지부와; 상기 회전축지지판의 후면에 결합된 레일결합구와 결합되도록 전면에 상하승강레일이 결합된 승강직립판과, 상기 승강직립판의 양측부에 결합되어 전방으로 연장된 승강측부판과, 상기 승강측부판의 상단에 결합된 승강상부판이 구비된 상하승강부와; 상기 승강상부판의 측부에 결합되어 상기 상하승강부가 상하로 승강되도록 에어동력을 전달하는 에어실린더부;가 구비되며,The electromagnetic ultrasonic sensor mounting structure of the mobile inspection robot according to the present invention to achieve the above object is an electromagnetic ultrasonic sensor mounting structure mounted on a mobile inspection robot that detects cracks or defects in storage tanks storing hazardous materials or chemicals. A sensor housing provided with a sensor exposure end opened up and down in the center so that the electromagnetic ultrasonic sensor is recessed from the top and the bottom is exposed; a tilting unit provided with a pair of front and rear rotation axes coupled to both sides of the sensor housing and extending rearward so as to tilt the sensor housing forward and backward; a rotation axis support portion including a left and right rotation shaft inserted in the center of the tilting portion and extending rearward so that the tilting portion is tilted to the left and right, and a rotation axis support plate coupled to and supporting other end portions of the left and right rotation shaft; A lifting upright plate with a vertical lifting rail coupled to the front so as to be coupled to a rail coupler connected to the rear of the rotating shaft support plate, a lifting side plate coupled to both sides of the lifting upright plate and extending forward, and the lifting side plate A vertical lifting unit equipped with a lifting upper plate coupled to the upper end; An air cylinder unit is coupled to a side of the lifting upper plate and transmits air power so that the vertical lifting unit is raised and lowered.

상기 센서하우징의 하단 외측부에는 상기 전자기초음파센서가 탐상면과 정해진 거리로 이격되도록 스프링탄성력으로 지지하는 볼플런저가 결합된 플런저결합단이 구비되고,The lower outer portion of the sensor housing is provided with a plunger coupling end coupled with a ball plunger that supports the electromagnetic ultrasonic sensor by spring elastic force so that it is spaced at a predetermined distance from the flaw detection surface,

상기 회전축지지부의 상부에는 상기 틸팅부의 상면 양측부를 스프링탄성력으로 압착하는 한 쌍의 스프링돌출핀이 결합되도록 전방으로 연장된 돌출핀지지판이 구비된 것을 특징으로 한다.The upper part of the rotation axis support part is characterized in that a protruding pin support plate extending forward is provided so that a pair of spring protruding pins that compress both sides of the upper surface of the tilting part with spring elastic force are coupled.

상기 센서하우징의 양측 상부에는At the top of both sides of the sensor housing are

상기 전자기초음파센서의 단자가 안착되도록 하부로 요입된 센서단자안착단이 구비된 것을 특징으로 한다.It is characterized in that a sensor terminal seating end recessed into the lower part is provided so that the terminal of the electromagnetic ultrasonic sensor is seated.

상기 회전축지지판과 승강직립판의 사이에는 상기 상하승강부의 상하 승강시 상기 회전축지지부가 상하로 이탈되는 것을 방지토록 일측 단부는 상기 회전축지지판의 상부 일측에 결합되고, 타측단부는 상기 승강직립판의 상하방향으로 길게 통공된 상하장공에 요입된 한 쌍의 승강가이드봉이 구비된 것을 특징으로 한다.Between the rotation shaft support plate and the lifting upright plate, one end is coupled to the upper side of the rotation shaft support plate to prevent the rotation shaft support part from moving up and down when the vertical lifting unit is raised and lowered, and the other end is connected to the upper and lower sides of the lifting upright plate. It is characterized by being provided with a pair of lifting guide rods recessed in the upper and lower holes that are long in each direction.

상기 승강직립판의 하부 일측에는 상기 이동검사로봇의 주행시 위치를 검출하기 위한 로터리엔코더가 구비된 것을 특징으로 한다.A rotary encoder is provided on one lower side of the lifting upright plate to detect the position of the mobile inspection robot while traveling.

상기 에어실린더부는 상기 승강상부판에 상하승강동력을 전달하는 3개의 승강축과, 상기 승강축에 에어동력을 전달하는 축실린더가 구비된 것을 특징으로 한다.The air cylinder unit is characterized in that it is provided with three lifting shafts that transmit vertical and lowering power to the lifting upper plate, and an axial cylinder that transmits air power to the lifting shaft.

상기 승강측부판에는 상기 승강직립판의 상단에 안착되도록 후방상단에서 외측으로 연장된 직립판안착단이 구비된 것을 특징으로 한다.The lifting side plate is characterized in that it is provided with an upright plate seating end extending outward from the rear top so as to be seated on the top of the lifting upright plate.

이와 같이 본 발명에 의한 이동검사로봇의 전자기초음파센서 거치구조는 다음과 같은 효과가 있다.As such, the electromagnetic ultrasonic sensor mounting structure of the mobile inspection robot according to the present invention has the following effects.

첫째, 전자기초음파센서가 탑재된 센서하우징이 전후방으로 틸팅되도록 상기 센서하우징의 양측부에 결합된 전후방회전축이 구비되고, 상기 전후방회전축의 타측단부와 결합된 틸팅부를 좌우로 회동시키는 좌우회전축이 회전축지지부에 구비됨으로써, 상기 전자기초음파센서가 불규칙한 탐상면을 따라 틸팅되어 결함이나 균열의 탐지가 용이하고,First, the sensor housing on which the electromagnetic ultrasonic sensor is mounted is provided with a front and rear rotation axis coupled to both sides of the sensor housing so that the sensor housing is tilted forward and backward, and the left and right rotation shafts that rotate the tilting portion coupled with the other end of the front and rear rotation axis to the left and right are rotation axis supports. By being provided, the electromagnetic ultrasonic sensor is tilted along the irregular inspection surface, making it easy to detect defects or cracks,

둘째, 상기 센서하우징과, 틸팅부를 상하로 이송시키는 동력을 전달하는 상하승강부와, 상기 상하승강부를 에어실린더로 승강시키는 에어실린더부가 구비됨으로써, 미탐상시 상기 전자기초음파센서를 탐상면에서 이격시켜 이동할 수 있으며,Second, the sensor housing, a vertical lifting part that transmits power to move the tilting unit up and down, and an air cylinder part that lifts the vertical lifting part with an air cylinder are provided to separate the electromagnetic ultrasonic sensor from the inspection surface when no flaw is detected. can move,

셋째, 상기 센서하우징의 하단 외측부 4점에 구비된 플런저결합단에 볼플런저가 결합되어 상기 센서하우징을 지지하고, 상기 틸팅부의 상면 양측부를 압착하는 스프링돌출핀이 구비됨으로써, 상기 전자기초음파센서가 불규칙한 탐상면에 정해진 탄성력으로 밀착되어 탐지할 수 있고,Third, a ball plunger is coupled to the plunger coupling end provided at four points on the lower outer portion of the sensor housing to support the sensor housing, and a spring protruding pin is provided to press both sides of the upper surface of the tilting portion, so that the electromagnetic ultrasonic sensor is irregular. It can be detected by adhering closely to the inspection surface with a specified elastic force.

넷째, 상하승강부의 승강직립판에 상하로 길게 통공된 상하장공에 결합되어 상기 회전축지지부의 일측에 결합된 승강가이드봉이 구비됨으로써, 상기 상하승강부의 상하승강시 상기 회전축지지부와, 틸팅부 및 센서하우징이 상하로 이탈되는 것을 방지할 수 있으며,Fourth, a lifting guide rod is provided that is coupled to the upper and lower long holes extending vertically in the lifting upright plate of the lifting and lowering section and is coupled to one side of the rotating shaft support, so that when the vertical lifting section is raised and lowered, the rotating shaft support, the tilting unit and the sensor housing are connected to each other. This can prevent it from moving up and down,

다섯째, 상하승강부에 구비된 승강직립판의 일측에 로터리엔코더가 구비됨으로써, 위험물 저장탱크의 탐상위치를 산출하여 중복 탐상을 방지하여 검사 효율을 증대시킬 수 있다.Fifth, by providing a rotary encoder on one side of the lifting upright plate provided in the upper and lower lifting part, inspection efficiency can be increased by calculating the flaw detection position of the dangerous substance storage tank and preventing duplicate flaw detection.

도 1은 본 발명에 따른 이동검사로봇의 전자기초음파센서 거치구조를 나타낸 사시도이고,
도 2는 본 발명의 센서하우징을 설명하는 도면이며,
도 3은 본 발명의 틸팅부와 회전축지지부를 설명하는 도면이고,
도 4는 본 발명에 따른 상하승강부와 에어실린더부를 설명하는 도면이며,
도 5는 본 발명에 따른 전자기초음파센서 거치구조가 지면에 접촉되는 상태를 설명하는 도면이다.Figure 1 is a perspective view showing the electromagnetic ultrasonic sensor mounting structure of the mobile inspection robot according to the present invention;
Figure 2 is a diagram explaining the sensor housing of the present invention,
Figure 3 is a diagram explaining the tilting part and the rotation axis support part of the present invention;
Figure 4 is a diagram illustrating the vertical elevation unit and air cylinder unit according to the present invention;
Figure 5 is a diagram illustrating a state in which the electromagnetic ultrasonic sensor mounting structure according to the present invention is in contact with the ground.

이하, 첨부된 도면을 참조하여 본 발명의 일 실시예를 상세히 설명하면 다음과 같다.Hereinafter, an embodiment of the present invention will be described in detail with reference to the attached drawings.

본 발명에 따른 이동검사로봇의 전자기초음파센서 거치구조는, 도 1 내지 도 4에 도시된 바와 같이, 위험물나 화학물질이 저장된 저장탱크의 균열이나 결함을 탐상하는 이동검사로봇에 장착된 전자기초음파센서(S) 거치구조로서, 상기 전자기초음파센서(S)가 상부에서 요입되어 하면이 노출되도록 중앙에 상하로 개구된 센서노출단(11)이 구비된 센서하우징(10)과; 상기 센서하우징(10)이 전후방으로 틸팅되도록 상기 센서하우징(10)의 양측부에 결합되어 후방으로 연장된 한쌍의 전후방회전축(21)이 구비된 틸팅부(20)와; 상기 틸팅부(20)가 좌우로 틸팅되도록 상기 틸팅부(20)의 중앙에 삽입되어 후방으로 연장된 좌우회전축(31)과, 상기 좌우회전축(31)의 타측단부가 결합되어 지지되는 회전축지지판(32)이 구비된 회전축지지부(30)와; 상기 회전축지지판(32)의 후면에 결합된 레일결합구(32a)와 결합되도록 전면에 상하승강레일(41a)이 결합된 승강직립판(41)과, 상기 승강직립판(41)의 양측부에 결합되어 전방으로 연장된 승강측부판(42)과, 상기 승강측부판(42)의 상단에 결합된 승강상부판(43)이 구비된 상하승강부(40)와; 상기 승강상부판(43)의 측부에 결합되어 상기 상하승강부(40)가 상하로 승강되도록 에어동력을 전달하는 에어실린더부(50);가 구비되며,As shown in Figures 1 to 4, the electromagnetic ultrasonic sensor mounting structure of the mobile inspection robot according to the present invention is an electromagnetic ultrasonic sensor mounted on the mobile inspection robot that detects cracks or defects in storage tanks where hazardous materials or chemicals are stored. (S) a mounting structure, a sensor housing (10) provided with a sensor exposure end (11) that is opened up and down in the center so that the electromagnetic ultrasonic sensor (S) is recessed from the top and the bottom is exposed; a tilting unit 20 provided with a pair of front and rear rotation axes 21 coupled to both sides of the sensor housing 10 and extending rearward so that the sensor housing 10 is tilted forward and backward; A left and right rotation axis 31 inserted in the center of the tilting unit 20 and extending rearward so that the tilting unit 20 is tilted left and right, and the other end of the left and right rotation axis 31 are coupled and supported to support the rotation axis support plate ( 32) and a rotating shaft support portion 30 provided; A lifting upright plate 41 on which a vertical lifting rail 41a is coupled to the front so as to be coupled with a rail coupler 32a connected to the rear of the rotating shaft support plate 32, and on both sides of the lifting upright plate 41. A vertical lifting part 40 including a lifting side plate 42 that is coupled and extended forward, and a lifting upper plate 43 coupled to the upper end of the lifting side plate 42; An air cylinder unit 50 is coupled to the side of the upper elevating plate 43 and transmits air power to elevate the elevating part 40 up and down,

상기 센서하우징(10)의 하단 외측부에는 상기 전자기초음파센서(S)가 탐상면과 정해진 거리로 이격되도록 스프링탄성력으로 지지하는 볼플런저(12a)가 결합된 플런저결합단(12)이 구비되고,The lower outer portion of the sensor housing 10 is provided with a plunger coupling end 12 to which a ball plunger 12a is coupled, which supports the electromagnetic ultrasonic sensor S at a predetermined distance from the flaw detection surface.

상기 회전축지지부(30)의 상부에는 상기 틸팅부(20)의 상면 양측부를 스프링탄성력으로 압착하는 한 쌍의 스프링돌출핀(33a)이 결합되도록 전방으로 연장된 돌출핀지지판(33)이 구비된다.A protruding pin support plate 33 extending forward is provided on the upper part of the rotation shaft support portion 30 so that a pair of spring protruding pins 33a that compress both sides of the upper surface of the tilting portion 20 with spring elastic force are coupled.

즉, 상기 볼플런저(12a)가 센서하우징(10)의 저면을 지지하고, 상기 센서하우징(10)의 결합된 틸팅부(20)의 상부를 회전축지지부(30)에 구비된 돌출핀지지판(33)이 정해진 탄성력으로 압착함으로써, 상기 센서하우징(10)은 탐상면이 불규칙하더라도 일정한 하중으로 상기 탐상면에 밀착되게 된다.That is, the ball plunger 12a supports the bottom of the sensor housing 10, and the upper part of the tilting portion 20 coupled to the sensor housing 10 is supported by the protruding pin support plate 33 provided on the rotation axis support portion 30. ) is compressed with a predetermined elastic force, so that the sensor housing 10 is in close contact with the inspection surface with a constant load even if the inspection surface is irregular.

상기 볼플런저(12a)는 볼롤러가 하우징의 내부로 압착식으로 결합되며, 하우징의 내부에는 상기 볼롤러를 지지하는 스프링(미도시)이 더 구비된다.In the ball plunger 12a, a ball roller is pressed into the interior of the housing, and a spring (not shown) supporting the ball roller is further provided inside the housing.

그리고, 상기 에어실린더부(50)에는 외부의 공기압을 전달하는 공압관이 연결되는 단자가 구비되며, 이동검사로봇의 일측에 결합되도록 상기 에어실린더부(50)의 일측에는 로봇결합단이 더 구비되게 된다.In addition, the air cylinder unit 50 is provided with a terminal to which a pneumatic pipe that transmits external air pressure is connected, and a robot coupling end is further provided on one side of the air cylinder unit 50 to be coupled to one side of the mobile inspection robot. It will happen.

한편, 상기 센서하우징(10)의 양측 상부에는 상기 전자기초음파센서(S)의 단자가 안착되도록 하부로 요입된 센서단자안착단(13)이 구비된다. 즉, 상기 센서단자안착단(13)은 상기 전자기초음파센서(S)를 구동하는 전기신호와 상기 전자기초음파센서(S)에서 수신한 초음파신호를 수신하여 외부에 전기신호로 전송하는 단자가 인출되기 위한 구성이다.Meanwhile, sensor terminal seating ends 13 recessed downward are provided on both upper sides of the sensor housing 10 so that the terminals of the electromagnetic ultrasonic sensor (S) are seated. That is, the sensor terminal seating end 13 is a terminal that receives the electrical signal driving the electromagnetic ultrasonic sensor (S) and the ultrasonic signal received from the electromagnetic ultrasonic sensor (S) and transmits it to the outside as an electrical signal. This is a configuration for

그리고, 상기 회전축지지판(32)과 승강직립판(41)의 사이에는 상기 상하승강부(40)의 상하 승강시 상기 회전축지지부(30)가 상하로 이탈되는 것을 방지토록 일측 단부는 상기 회전축지지판(32)의 상부 일측에 결합되고, 타측단부는 상기 승강직립판(41)의 상하방향으로 길게 통공된 상하장공(41b)에 요입된 한 쌍의 승강가이드봉(35)이 구비된다. 여기서, 상기 승강가이드봉(35)은 상기 상하승강부(40)이 상부로 승강시 상기 회전축지지판(32)이 자체하중으로 하부로 이송되다 상기 상하장공(41b)의 내측하단부에 승강가이드봉(35)이 걸림되어 추가적인 이송을 방지하게 된다. 이에 따라 상기 센서하우징(10)도 하부로 이탈되는 것이 방지되게 된다.In addition, between the rotation shaft support plate 32 and the lifting upright plate 41, one end is provided with the rotation shaft support plate ( It is coupled to one upper side of the lifting upright plate 41, and the other end is provided with a pair of lifting guide rods 35 recessed into the upper and lower long holes 41b extending in the vertical direction of the lifting upright plate 41. Here, the lifting guide rod 35 is moved downward by its own weight when the vertical lifting unit 40 is lifted upward. 35) gets stuck, preventing further transfer. Accordingly, the sensor housing 10 is also prevented from moving downward.

한편, 상기 승강직립판(41)의 하부 일측에는 상기 이동검사로봇의 주행시 위치를 검출하기 위한 로터리엔코더(41c)가 구비됨으로써, 이송된 거리를 상기 로터리엔코더(41c)에서 생성된 펄스파를 수신하여 이동검사로봇의 주행거리를 산출하여 현재 검사 위치를 검출할 수 있게 된다.Meanwhile, a rotary encoder (41c) is provided on one lower side of the lifting upright plate 41 to detect the position of the mobile inspection robot while traveling, and the pulse wave generated by the rotary encoder (41c) is received to determine the transported distance. By calculating the traveling distance of the mobile inspection robot, it is possible to detect the current inspection location.

그리고, 상기 에어실린더부(50)는 상기 승강상부판(43)에 상하승강동력을 전달하는 3개의 승강축(51)과, 상기 승강축(51)에 에어동력을 전달하는 축실린더(52)가 구비된다. 즉, 상기 축실린더(52)를 통해 전달된 공기압은 상기 승강축(51)을 상승시키거나 하강시키기 위한 구성이다.In addition, the air cylinder unit 50 includes three lifting shafts 51 that transmit vertical lifting power to the lifting upper plate 43, and an axial cylinder 52 that transmits air power to the lifting shaft 51. is provided. That is, the air pressure transmitted through the shaft cylinder 52 is configured to raise or lower the lifting shaft 51.

또한, 상기 승강측부판(42)에는 상기 승강직립판(41)의 상단에 안착되도록 후방상단에서 외측으로 연장된 직립판안착단(42a)이 구비된다. 여기서, 상기 직립판안착단(42a)의 전면에는 상기 승강상부판(43)의 후면이 밀착되어 결합됨으로써, 상기 상하승강부(40)가 보다 견고하게 결합된 구조로 구성되게 된다.In addition, the lifting side plate 42 is provided with an upright plate seating end 42a extending outward from the rear upper end to be seated on the upper end of the lifting upright plate 41. Here, the rear side of the lifting upper plate 43 is tightly coupled to the front of the upright plate seating end 42a, so that the upper and lower lifting portion 40 is configured to have a more firmly coupled structure.

상기와 같은 구성으로 이루어진 본 발명에 따른 이동검사로봇의 전자기초음파센서 거치구조의 작용을 살펴보면 아래와 같다.The operation of the electromagnetic ultrasonic sensor mounting structure of the mobile inspection robot according to the present invention configured as described above is as follows.

본 발명에 따른 이동검사로봇의 전자기초음파센서 거치구조는, 도 1 내지 도 5에 도시된 바와 같이, 전자기초음파센서(S)가 탑재된 센서하우징(10)이 틸팅부(20)의 전후방회전축(21)을 통해 전후방으로 회동되어 탐상표면에 전후방으로 불규칙한 표면을 따라 회동되게 되며, 상기 센서하우징(10)과 틸팅부(20)는 일체로 좌우회동되도록 상기 틸팅부(20)가 회전축지지부(30)에서 연장된 좌우회전축(31)에 결합되게 된다.As shown in Figures 1 to 5, the electromagnetic ultrasonic sensor mounting structure of the mobile inspection robot according to the present invention is such that the sensor housing 10 on which the electromagnetic ultrasonic sensor S is mounted is positioned on the forward and backward rotation axis of the tilting unit 20. 21), the sensor housing 10 and the tilting part 20 are rotated forward and backward along an irregular surface forward and backward, and the sensor housing 10 and the tilting part 20 are rotated left and right as one body. ) is coupled to the left and right rotation axis (31) extending from.

즉, 상기 전자기초음파센서(S)는 불규칙한 탐상면의 굴곡을 따라 전후좌우방향으로 틸팅되게 되며, 이때, 상기 전자기초음파센서(S)와 탐상면이 정해진 거리로 이격되도록 상기 센서하우징(10)은 하방 4지점에 결합된 볼플런저(12a)를 통해 탐상면에 정해진 탄성력으로 지지되게 되고, 상기 틸팅부(20)의 상면 좌우측을 회전축지지부(30)에서 연장된 한 쌍의 돌출핀지지판(33)이 상기 틸팅부(20)에 하방탄성력을 전달하게 된다.That is, the electromagnetic ultrasonic sensor (S) is tilted in the front, rear, left and right directions along the curve of the irregular test surface, and at this time, the sensor housing (10) is installed so that the electromagnetic ultrasonic sensor (S) and the test surface are spaced at a predetermined distance. It is supported by a predetermined elastic force on the inspection surface through a ball plunger (12a) coupled to four points below, and a pair of protruding pin support plates (33) extend from the rotation shaft support portion (30) on the left and right sides of the upper surface of the tilting portion (20). A downward elastic force is transmitted to the tilting portion 20.

이때, 상기 돌출핀지지판(33)의 하방탄성력은 상기 센서하우징(10)이 불규칙한 탐상면의 표면으로 부터 발생된 반발력에 의해 상부로 이송되는 것을 방지함으로써, 상기 전자기초음파센서(S)가 탐상면에서 정해진 거리로 유지되게 된다.At this time, the downward elastic force of the protruding pin support plate 33 prevents the sensor housing 10 from being transported upward by the repulsion force generated from the surface of the irregular inspection surface, so that the electromagnetic ultrasonic sensor (S) It is maintained at a set distance from.

그리고, 상기 센서하우징(10)과 틸팅부(20) 및 회전축지지부(30)는 상하승강부(40)의 상하승강시 승강가이드봉(35)과 상하승강레일(41a)을 따라 상하로 승강되게 되며, 상기 상하승강부(40)는 에어실린더부(50)이 에어동력으로 상하 승강되게 된다.In addition, the sensor housing 10, the tilting part 20, and the rotation axis support part 30 are raised and lowered along the lifting guide rod 35 and the raising and lowering rail 41a when the vertical lifting unit 40 is raised and lowered. In this way, the vertical lifting unit 40 moves the air cylinder unit 50 up and down using air power.

이때, 상기 승강가이드봉(35)는 상기 상하승강부(40)의 상하장공(41b)에 요입되어 결합됨으로써, 상기 센서하우징(10)과 틸팅부(20) 및 회전축지지부(30)가 상기 상하장공(41b)의 범위를 넘어서 과도하게 상하로 승강되어 외부로 이탈되는 것을 방지하게 된다.At this time, the lifting guide rod 35 is recessed and coupled to the upper and lower elongated hole 41b of the upper and lower lifting part 40, so that the sensor housing 10, the tilting part 20, and the rotation axis support part 30 are positioned in the upper and lower positions. This prevents it from being excessively lifted up and down beyond the range of the long hole (41b) and leaving it to the outside.

이와 같이 본 발명에 따른 이동검사로봇의 전자기초음파센서 거치구조는 상기 전자기초음파센서(S)가 전후좌우 틸팅이 자유롭고 탐상면에 정해진 거리로 이격되도록 구비됨으로써, 불규칙한 표면을 따라 이송되며 초음파신호의 거리에 따른 감쇄를 최소화함으로써, 탐상을 보다 정밀하게 할 수 있게 된다.In this way, the electromagnetic ultrasonic sensor mounting structure of the mobile inspection robot according to the present invention is provided so that the electromagnetic ultrasonic sensor (S) is free to tilt forward, backward, left, and right and is spaced at a predetermined distance from the inspection surface, so that it is transported along an irregular surface and the distance of the ultrasonic signal is By minimizing attenuation, inspection can be performed more precisely.

본 발명은 상술한 특정의 바람직한 실시예에 한정되지 아니하며, 청구범위에서 청구하는 본 발명의 요지를 벗어남이 없이 당해 고안이 속하는 기술분야에서 통상의 지식을 가진 자라면 누구든지 다양한 변형실시가 가능한 것은 물론이고, 그와 같은 변경은 청구범위 기재의 범위 내에 있게 된다.The present invention is not limited to the specific preferred embodiments described above, and various modifications can be made by anyone skilled in the art without departing from the gist of the invention as claimed in the claims. Of course, such changes are within the scope of the claims.

<도면의 주요부분에 대한 부호의 설명>
10 : 센서하우징 11 : 센서노출단
12 : 플런저결합단 12a : 볼플런저
13 : 센서단자안착단 20 : 틸팅부
21 : 전후방회전축 30 : 회전축지지부
31 : 좌우회전축 32 : 회전축지지판
32a : 레일결합구 33 : 돌출핀지지판
33a : 스프링돌출핀 35 : 승강가이드봉
40 : 상하승강부 41 : 승강직립판
41a : 상하승강레일 41b : 상하장공
41c : 로터리엔코더 42 : 승강측부판
42a : 직립판안착단 43 : 승강상부판
50 : 에어실린더부 51 : 승강축
52 : 축실린더
S : 전자기초음파센서<Explanation of symbols for main parts of the drawing>
10: sensor housing 11: sensor exposure end
12: Plunger coupling end 12a: Ball plunger
13: Sensor terminal seating end 20: Tilting part
21: front and rear rotation axis 30: rotation axis support
31: left and right rotation axis 32: rotation axis support plate
32a: Rail coupler 33: Protruding pin support plate
33a: Spring protruding pin 35: Elevating guide rod
40: Up and down lifting part 41: Elevating upright plate
41a: Up and down lifting rail 41b: Up and down hole
41c: Rotary encoder 42: Elevating side plate
42a: Upright plate seating end 43: Elevating upper plate
50: Air cylinder part 51: Elevating shaft
52: Axial cylinder
S: Electromagnetic ultrasonic sensor

Claims (6)

위험물나 화학물질이 저장된 저장탱크의 균열이나 결함을 탐상하는 이동검사로봇에 장착된 전자기초음파센서(S) 거치구조에 있어서,
상기 전자기초음파센서(S)가 상부에서 요입되어 하면이 노출되도록 중앙에 상하로 개구된 센서노출단(11)이 구비된 센서하우징(10)과;
상기 센서하우징(10)이 전후방으로 틸팅되도록 상기 센서하우징(10)의 양측부에 결합되어 후방으로 연장된 한쌍의 전후방회전축(21)이 구비된 틸팅부(20)와;
상기 틸팅부(20)가 좌우로 틸팅되도록 상기 틸팅부(20)의 중앙에 삽입되어 후방으로 연장된 좌우회전축(31)과, 상기 좌우회전축(31)의 타측단부가 결합되어 지지되는 회전축지지판(32)이 구비된 회전축지지부(30)와;
상기 회전축지지판(32)의 후면에 결합된 레일결합구(32a)와 결합되도록 전면에 상하승강레일(41a)이 결합된 승강직립판(41)과, 상기 승강직립판(41)의 양측부에 결합되어 전방으로 연장된 승강측부판(42)과, 상기 승강측부판(42)의 상단에 결합된 승강상부판(43)이 구비된 상하승강부(40)와;
상기 승강상부판(43)의 측부에 결합되어 상기 상하승강부(40)가 상하로 승강되도록 에어동력을 전달하는 에어실린더부(50);가 구비되며,
상기 센서하우징(10)의 하단 외측부에는 상기 전자기초음파센서(S)가 탐상면과 정해진 거리로 이격되도록 스프링탄성력으로 지지하는 볼플런저(12a)가 결합된 플런저결합단(12)이 구비되고,
상기 회전축지지부(30)의 상부에는
상기 틸팅부(20)의 상면 양측부를 스프링탄성력으로 압착하는 한 쌍의 스프링돌출핀(33a)이 결합되도록 전방으로 연장된 돌출핀지지판(33)이 구비된 것을 특징으로 하는 이동검사로봇의 전자기초음파센서 거치구조.In the electromagnetic ultrasonic sensor (S) mounting structure mounted on a mobile inspection robot that detects cracks or defects in storage tanks storing hazardous materials or chemicals,
A sensor housing (10) provided with a sensor exposure end (11) that is opened upward and downward in the center so that the electromagnetic ultrasonic sensor (S) is recessed from the top to expose the lower surface;
a tilting unit 20 provided with a pair of front and rear rotation axes 21 coupled to both sides of the sensor housing 10 and extending rearward so that the sensor housing 10 is tilted forward and backward;
A left and right rotation axis 31 inserted in the center of the tilting unit 20 and extending rearward so that the tilting unit 20 is tilted left and right, and the other end of the left and right rotation axis 31 are coupled and supported to support the rotation axis support plate ( 32) and a rotating shaft support portion 30 provided;
A lifting upright plate 41 on which a vertical lifting rail 41a is coupled to the front so as to be coupled with a rail coupler 32a connected to the rear of the rotating shaft support plate 32, and on both sides of the lifting upright plate 41. A vertical lifting part 40 including a lifting side plate 42 that is coupled and extended forward, and a lifting upper plate 43 coupled to the upper end of the lifting side plate 42;
An air cylinder unit 50 is coupled to the side of the upper elevating plate 43 and transmits air power to elevate the elevating part 40 up and down.
The lower outer portion of the sensor housing 10 is provided with a plunger coupling end 12 to which a ball plunger 12a is coupled, which supports the electromagnetic ultrasonic sensor S at a predetermined distance from the flaw detection surface.
At the top of the rotation axis support part 30,
Electromagnetic ultrasound of the mobile inspection robot, characterized in that a protruding pin support plate (33) is provided that extends forward so that a pair of spring protruding pins (33a) that compress both sides of the upper surface of the tilting unit (20) with spring elastic force are coupled. Sensor mounting structure. 제1항에 있어서,
상기 센서하우징(10)의 양측 상부에는
상기 전자기초음파센서(S)의 단자가 안착되도록 하부로 요입된 센서단자안착단(13)이 구비된 것을 특징으로 하는 이동검사로봇의 전자기초음파센서 거치구조.According to paragraph 1,
At the top of both sides of the sensor housing (10)
An electromagnetic ultrasonic sensor mounting structure for a mobile inspection robot, characterized in that it is provided with a sensor terminal seating end (13) recessed at the bottom so that the terminal of the electromagnetic ultrasonic sensor (S) is seated. 제1항에 있어서,
상기 회전축지지판(32)과 승강직립판(41)의 사이에는
상기 상하승강부(40)의 상하 승강시 상기 회전축지지부(30)가 상하로 이탈되는 것을 방지토록 일측 단부는 상기 회전축지지판(32)의 상부 일측에 결합되고, 타측단부는 상기 승강직립판(41)의 상하방향으로 길게 통공된 상하장공(41b)에 요입된 한 쌍의 승강가이드봉(35)이 구비된 것을 특징으로 하는 이동검사로봇의 전자기초음파센서 거치구조.According to paragraph 1,
Between the rotation axis support plate 32 and the lifting upright plate 41,
One end is coupled to the upper side of the rotation axis support plate 32 to prevent the rotation axis support part 30 from being separated up and down when the vertical elevation part 40 is raised and lowered, and the other end is connected to the lifting upright plate 41. ) An electromagnetic ultrasonic sensor mounting structure of a mobile inspection robot, characterized in that a pair of lifting guide rods (35) are recessed into the upper and lower elongated holes (41b) that are long in the vertical direction. 제1항에 있어서,
상기 승강직립판(41)의 하부 일측에는
상기 이동검사로봇의 주행시 위치를 검출하기 위한 로터리엔코더(41c)가 구비된 것을 특징으로 하는 이동검사로봇의 전자기초음파센서 거치구조.According to paragraph 1,
On one lower side of the lifting upright plate 41,
An electromagnetic ultrasonic sensor mounting structure for a mobile inspection robot, characterized in that it is provided with a rotary encoder (41c) for detecting the position of the mobile inspection robot while traveling. 제1항에 있어서,
상기 에어실린더부(50)는
상기 승강상부판(43)에 상하승강동력을 전달하는 3개의 승강축(51)과,
상기 승강축(51)에 에어동력을 전달하는 축실린더(52)가 구비된 것을 특징으로 하는 이동검사로봇의 전자기초음파센서 거치구조.According to paragraph 1,
The air cylinder unit 50 is
Three lifting shafts (51) that transmit vertical lifting power to the upper lifting plate (43),
An electromagnetic ultrasonic sensor mounting structure for a mobile inspection robot, characterized in that it is provided with an axial cylinder (52) that transmits air power to the lifting shaft (51). 제1항에 있어서,
상기 승강측부판(42)에는
상기 승강직립판(41)의 상단에 안착되도록 후방상단에서 외측으로 연장된 직립판안착단(42a)이 구비된 것을 특징으로 하는 이동검사로봇의 전자기초음파센서 거치구조.According to paragraph 1,
In the lifting side plate 42,
An electromagnetic ultrasonic sensor mounting structure for a mobile inspection robot, characterized in that an upright plate seating end (42a) extending outward from the rear top is provided so as to be seated on the top of the lifting upright plate (41).
KR1020210155499A 2021-11-12 2021-11-12 Electromagnetic Ultrasonic Sensor Mounting Structure of Mobile Inspection Robot KR102589879B1 (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
KR1020210155499A KR102589879B1 (en) 2021-11-12 2021-11-12 Electromagnetic Ultrasonic Sensor Mounting Structure of Mobile Inspection Robot

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
KR1020210155499A KR102589879B1 (en) 2021-11-12 2021-11-12 Electromagnetic Ultrasonic Sensor Mounting Structure of Mobile Inspection Robot

Publications (2)

Publication Number Publication Date
KR20230069449A KR20230069449A (en) 2023-05-19
KR102589879B1 true KR102589879B1 (en) 2023-10-16

Family

ID=86546742

Family Applications (1)

Application Number Title Priority Date Filing Date
KR1020210155499A KR102589879B1 (en) 2021-11-12 2021-11-12 Electromagnetic Ultrasonic Sensor Mounting Structure of Mobile Inspection Robot

Country Status (1)

Country Link
KR (1) KR102589879B1 (en)

Families Citing this family (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
KR102605316B1 (en) * 2023-05-22 2023-11-24 주식회사 에이텍 Ultrasonic inspection device for boiler tube

Citations (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2012173068A (en) 2011-02-18 2012-09-10 Mitsubishi Heavy Ind Ltd Ultrasonic flaw detection apparatus
US20140305217A1 (en) 2013-04-12 2014-10-16 The Boeing Company Apparatus for Automated Rastering of an End Effector Over an Airfoil-Shaped Body
KR101618158B1 (en) 2015-08-29 2016-05-04 엔디티엔지니어링(주) Multi-channel ultrasonic Probe-block device
KR101716717B1 (en) 2015-09-24 2017-03-27 전남대학교산학협력단 Robot for welidng defect inspection of oil storage tank using EMAT

Patent Citations (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2012173068A (en) 2011-02-18 2012-09-10 Mitsubishi Heavy Ind Ltd Ultrasonic flaw detection apparatus
US20140305217A1 (en) 2013-04-12 2014-10-16 The Boeing Company Apparatus for Automated Rastering of an End Effector Over an Airfoil-Shaped Body
KR101618158B1 (en) 2015-08-29 2016-05-04 엔디티엔지니어링(주) Multi-channel ultrasonic Probe-block device
KR101716717B1 (en) 2015-09-24 2017-03-27 전남대학교산학협력단 Robot for welidng defect inspection of oil storage tank using EMAT

Also Published As

Publication number Publication date
KR20230069449A (en) 2023-05-19

Similar Documents

Publication Publication Date Title
KR102589879B1 (en) Electromagnetic Ultrasonic Sensor Mounting Structure of Mobile Inspection Robot
KR101997379B1 (en) Deployment mechanism for manual normalization of probe to workpiece surface
KR101283735B1 (en) Low profile ultrasound inspection scanner
KR101986427B1 (en) Pipe inspection robot
KR101999446B1 (en) Pipe inspection method of pipe inspection robot
KR101843890B1 (en) Apparatus for Diagnosis Defect of Steel Structures and Weld
KR101605629B1 (en) Automatic test equipment and method for wheel set of railway vehicles
KR101898586B1 (en) A portable phased array ultrasound rail inspection device
KR101998048B1 (en) leak testing apparatus
KR101377448B1 (en) Welding bead part immersion ultrasonic scanning device of small and narrow place
CN213240015U (en) Nondestructive testing device for pressure container
JP5142869B2 (en) Remote eddy current flaw detector
KR20180088993A (en) Robot system for 3d scan traveling plant of tank
KR102605988B1 (en) Mobile inspection robot for dangerous goods storage tank
KR101261756B1 (en) Battery test device
CN111562309A (en) Ultrasonic phased array weld joint detection magnetic adsorption wall climbing robot and working method thereof
KR102400244B1 (en) Portable digital radiography equipment
KR102146208B1 (en) Ultrasonic testing device
KR101740907B1 (en) EMAT sensor And Robot for welding defect inspection of oil storage tank using the same
CN111912574B (en) Container detection device and detection method
KR20160034497A (en) Ultrasonic flaw detection device
KR102072189B1 (en) Apparatus for Detection Damage of Structural Steel Welding Region
KR20230070088A (en) Mobile robot for dangerous material storage tank and control method thereof
CN217278043U (en) Magnetic flux leakage and displacement detection system for detection robot
CN219535135U (en) Electric docking platform device

Legal Events

Date Code Title Description
E701 Decision to grant or registration of patent right
GRNT Written decision to grant