KR102629484B1 - Modular robot for inspection of pipeline - Google Patents

Abstract

The modular pipe inspection robot according to one aspect of the present invention is a modular pipe inspection robot that is connected to each other to form a closed loop, and has a frame part, a drive part coupled to the frame part, and a drive part connected to the drive part, capable of moving in all directions. It includes a plurality of mecanum wheels, a sensor unit coupled to the frame unit to inspect pipes, and a connection unit coupled to the frame unit, wherein the drive unit includes at least one drive module, and the drive module is connected to the plurality of mecha units. Each number wheel is individually driveable, and adjacent modular pipe inspection robots can be connected to each other through the connection portion.

Description

Modular pipe inspection robot {MODULAR ROBOT FOR INSPECTION OF PIPELINE}

The present invention relates to a modular pipe inspection robot.

Piping refers to pipes arranged for water supply, drainage, cooling and heating, etc. If a plumbing defect occurs, not only can it cause significant economic damage, but it can also lead to enormous casualties. Therefore, it is advisable to perform regular inspections to ensure the stability of pipes.

When workers go inside to inspect pipes, it may be difficult to visually check the condition of the inside of the pipes, and worker safety may be a problem. In addition, there are cases where the diameter of the pipe is small and workers cannot easily enter the interior. Accordingly, recently, a pipe inspection robot has been proposed that is inserted into a pipe and inspects it by moving along the pipe.

However, currently developed pipe inspection robots have been developed to respond to a certain target pipe diameter, making it difficult to apply them to pipes with various dimensions ranging from small to large.

In order to solve the above problem, the purpose of the present invention is to provide a modular pipe inspection robot applicable to pipes having various dimensions.

The modular pipe inspection robot according to one aspect of the present invention is a modular pipe inspection robot that is connected to each other to form a closed loop, and has a frame part, a drive part coupled to the frame part, and a drive part connected to the drive part, capable of moving in all directions. It includes a plurality of mecanum wheels, a sensor unit coupled to the frame unit to inspect pipes, and a connection unit coupled to the frame unit, wherein the drive unit includes at least one drive module, and the drive module is connected to the plurality of mecha units. Each number wheel is individually driveable, and adjacent modular pipe inspection robots can be connected to each other through the connection portion.

The modular pipe inspection robot according to one aspect of the present invention may further include a permanent magnet that is coupled to the frame and can come into close contact with the pipe using magnetism.

The modular pipe inspection robot according to one aspect of the present invention may further include a clamp capable of replacing, fixing, or height-adjusting the permanent magnet and the sensor unit by adjusting a lever.

The Mecanum wheel may include at least one roller, a roller support plate to which the roller is coupled, a hub connected to the driving unit, and a wheel fixing member that penetrates the hub and the roller support plate and fixes the roller support plate to the hub. You can.

The sensor unit may include a case, a sensor coupled to the case, and a spring located inside the case to push the case with elastic force.

The connection part may include a universal joint.

The length of the connection part may be adjustable.

As described above, the modular pipe inspection robot according to one aspect of the present invention can be applied to pipes that are connected to each other and have various dimensions.

1 is a perspective view of a modular pipe inspection robot according to an embodiment of the present invention.
Figure 2 is a side view of the modular pipe inspection robot of Figure 1.
Figure 3 is a plan view of the modular pipe inspection robot of Figure 1.
Figure 4 is a rear view of the modular pipe inspection robot of Figure 1.
Figure 5 is an exploded perspective view of the Mecanum wheel of the modular pipe inspection robot of Figure 1.
Figure 6 is a diagram showing a state in which adjacent modular pipe inspection robots are connected to each other by a connection part.
Figure 7 is an exploded perspective view of the connection part of Figure 6.
Figure 8 is an exploded perspective view of the sensor unit of the modular pipe inspection robot of Figure 1.
Figure 9 is a cross-sectional view of the sensor unit of Figure 6 in a combined state.
Figure 10 shows an example in which a modular pipe inspection robot according to an embodiment of the present invention is utilized.

Since the present invention can be modified in various ways and can have various embodiments, specific embodiments will be exemplified and explained in detail in the detailed description. However, this is not intended to limit the present invention to specific embodiments, and should be understood to include all transformations, equivalents, and substitutes included in the spirit and technical scope of the present invention.

The terms used in the present invention are only used to describe specific embodiments and are not intended to limit the present invention. Singular expressions include plural expressions unless the context clearly dictates otherwise. In the present invention, terms such as 'include' or 'have' are intended to designate the presence of features, numbers, steps, operations, components, parts, or combinations thereof described in the specification, but are not intended to indicate the presence of one or more other features. It should be understood that this does not exclude in advance the possibility of the existence or addition of elements, numbers, steps, operations, components, parts, or combinations thereof.

Hereinafter, preferred embodiments of the present invention will be described in detail with reference to the attached drawings. At this time, note that in the attached drawings, like components are indicated by the same symbols whenever possible. Additionally, detailed descriptions of well-known functions and configurations that may obscure the gist of the present invention will be omitted. For the same reason, some components are exaggerated, omitted, or schematically shown in the accompanying drawings.

Hereinafter, a modular pipe inspection robot according to an embodiment of the present invention will be described.

FIG. 1 is a perspective view of a modular pipe inspection robot according to an embodiment of the present invention, FIG. 2 is a side view of the modular pipe inspection robot of FIG. 1, and FIG. 3 is a top view of the modular pipe inspection robot of FIG. 1. FIG. 4 is a rear view of the modular pipe inspection robot of FIG. 1, FIG. 5 is an exploded perspective view of the Mecanum wheel of the modular pipe inspection robot of FIG. 1, and FIG. 6 shows adjacent modular pipe inspection robots connected to each other by a connection part. This is a diagram showing the connected state.

1 to 6, the modular pipe inspection robot 10 according to an embodiment of the present invention includes a frame unit 100, a mecanum wheel 200, a connection unit 300, a drive unit 400, and a sensor. It may include a unit 500, a permanent magnet 600, and a clamp 700. Here, those skilled in the art will understand that in addition to the components shown in FIGS. 1 to 6, other general-purpose components may be further included in the modular pipe inspection robot 10. If so, I can understand.

The modular pipe inspection robots 10 according to this embodiment may be connected to each other to form a closed loop. In the modular pipe inspection robot 10, a plurality of modular pipe inspection robots 10 may be connected to each other by a connection part 300, which will be described later. Accordingly, the number of connected modular pipe inspection robots 10 varies depending on the diameter of the pipe to be inspected, and can be applied to pipes of various sizes ranging from small to large.

The frame unit 100 may form the framework of the modular pipe inspection robot 10. Referring to FIG. 1 , the frame unit 100 may include a lower plate 110, a side plate 120, and a body 130. Here, those skilled in the art can understand that in addition to the components shown in FIG. 1, other general-purpose components may be further included in the frame unit 100.

The lower plate 110 is in the form of a flat plate located at the bottom of the modular pipe inspection robot 10 and can support the side plate 120 and body 130, which will be described later. The lower plate 110 may be made of a material such as steel or plastic with sufficient rigidity to protect the modular pipe inspection robot 10 from impacts occurring during pipe inspection. However, the shape and material of the lower plate 110 are not limited to this and may be partially changed within the range that can be adopted by a person skilled in the art.

The side plate 120 is coupled to the body 130, which will be described later, and a driving unit 400, which will be described later, may be located. The side plate 120 has a flat plate shape extending in a direction perpendicular to the lower plate 110 and may exist one each on the right side and the left side. The side plate 120 may serve to protect the side of the modular pipe inspection robot 10. The side plate 120 may be made of a material such as steel or plastic with sufficient rigidity to protect the modular pipe inspection robot 10 from impacts occurring during pipe inspection. However, the shape and material of the side plate 120 are not limited to this and may be partially changed within the range that can be adopted by a person skilled in the art.

The body 130 has a hollow hexahedral shape with open sides and top, and the driving unit 400 may be located inside. The body 130 may serve to protect the front and rear of the modular pipe inspection robot 10 and the driving unit 400. The body 130 may be made of a material such as steel or plastic with sufficient rigidity to protect the modular pipe inspection robot 10 from impacts occurring during pipe inspection. However, the shape and material of the body 130 are not limited to this and may be partially changed within the range that can be adopted by a person skilled in the art.

Referring to FIG. 5, the mecanum wheel 200 may include a roller 210, a hub 220, a wheel fixing member 230, and a roller support plate 240. The Mecanum wheel 200 may have a plurality of rollers 210 axially coupled to the outer peripheral surface of the roller support plate 240 at an angle of about 45 degrees. Since the rollers 210 are combined in an inclined direction to generate a driving force in the inclined direction, the roller 210 can be driven in a desired direction by appropriately combining the speed components in the forward and backward directions and the speed components in the left and right directions.

The mecanum wheel 200 is connected to the driving unit 400 and may be movable in all directions. Here, omnidirectional means all directions. There may be a total of four Mecanum wheels 200, two on the side plate 120 on the right side and two on the side plate 120 on the left side. Here, those skilled in the art can understand that other general-purpose components other than those shown in FIG. 5 may be further included in the mecanum wheel 200.

At least one roller 210 may be formed to transmit power by directly contacting the pipe from the mecanum wheel 200. The roller 210 may have a hollow cylindrical shape that rotates around one axis. A plurality of rollers 210 may form an angle of 45 degrees to the roller support plate 240, which will be described later, and may be spaced apart from each other at regular intervals and coupled along the circumference of the roller support plate 240. However, the shape and position of the roller are not limited to this and may be partially changed within the range that can be adopted by a person skilled in the art.

The hub 220 is connected to the drive unit 400 and may serve to transmit power of the drive unit 400. The hub 220 may be in the form of a circular plate with a circular hole formed in the center and a plurality of circular holes formed along the periphery. The hub 220 may be made of steel with sufficient rigidity to transmit the power of the driving unit 400. However, the shape and material of the hub 220 are not limited to this and may be partially changed within the range that can be adopted by a person skilled in the art.

The wheel fixing member 230 penetrates the hub 220 and the roller support plate 240 and can fix the roller support plate 240 to the hub 220. The wheel fixing member 230 may be a bolt or screw that penetrates and secures the circular hole of the hub 220 and the circular hole of the roller support plate 240, which will be described later. However, the wheel fixing member 230 may have any configuration for fixing the hub 220 and the roller support plate 240.

The roller support plate 240 may be a plate to which the roller 210 is coupled. The roller support plate 240 may have a plurality of circular holes formed in positions corresponding to the circular holes of the hub 220. For coupling with the roller 210, the roller support plate 240 may have a protruding portion formed to correspond to the angle at which the roller 210 is coupled. The roller support plate 240 may have a circular hole formed at an end of the protruding portion for coupling to the roller 210.

Referring to FIG. 5, the roller support plate 240 may include a first roller support plate 241 and a second roller support plate 242. The first roller support plate 241 and the second roller support plate 242 may be coupled to the left and right sides of the hub 220, respectively. The roller 210 may be coupled to the protruding portion of the second roller support plate 242 corresponding to the protruding portion of the first roller support plate 241.

Figure 7 is an exploded perspective view of the connection part of Figure 6.

Referring to FIGS. 6 and 7 , the connection portion 300 may include a protruding member 310, a connecting member 320, and an extension member 330. The connection part 300 is coupled to the frame part 100 so that adjacent modular pipe inspection robots 10 can be connected to each other. A universal joint may be used in the connection portion 300. The connection part 300 may be adjustable in length. Since the connection length of the connection part 300 is adjustable, if the number of modular pipe inspection robots 10 is insufficient compared to the size of the pipe diameter, it may be possible to respond according to the diameter of the pipe, such as by increasing the connection length. Here, those skilled in the art can understand that in addition to the components shown in FIG. 6, other general-purpose components may be further included in the connection portion 300.

The protruding member 310 may have a hole formed in the protruding portion and be combined with the connecting member 320 to be described later to enable coupling between the modular pipe inspection robots 10. The protruding member 310 may be coupled to the body 130 to form a thin hexahedral-shaped protrusion that protrudes in a cylindrical shape and has two curved edges with a hole formed at the end. The protruding member 310 may be made of a material such as steel or plastic that has sufficient rigidity to withstand twisting and rotation of the connection portion as the modular pipe inspection robot 10 is driven. However, the shape and material of the protruding member 310 are not necessarily limited to this and may have various shapes and materials.

The connecting member 320 may be inserted into the through hole of the protruding member 310 to connect the protruding member 310. The connecting member 320 may have a hexahedral shape with protruding portions corresponding to the through holes of the protruding member 310 . The connection member 320 may be made of a material such as steel or plastic that has sufficient rigidity to withstand the twisting and rotation of the connection portion due to the operation of the modular pipe inspection robot 10. However, the shape and material of the connecting member 320 are not necessarily limited to this and may have various shapes and materials.

The extension member 330 can be attached and detached to the connecting member 320 to adjust the connection length. The extension member 330 may have two thin hexahedral-shaped protrusions with curved edges and holes formed at both ends of a hollow cylinder. The extension member 330 may be made of a material such as steel or plastic that has sufficient rigidity to withstand twisting and rotation of the connection portion as the modular pipe inspection robot 10 is driven. However, the shape and material of the extension member 330 are not necessarily limited to this and may have various shapes and materials.

Referring to FIGS. 1 to 4 , the driving unit 400 may include a first driving module 410, a second driving module 420, a third driving module 430, and a fourth driving module 440. . Here, those skilled in the art can understand that in addition to the components shown in FIGS. 1 to 4, other general-purpose components may be further included in the driving unit 400. .

The driving unit 400 may be coupled to the frame unit 100 to provide power to a plurality of connected mecanum wheels 200. The driving unit 400 includes at least one driving module 410, 420, 430, and 440, and the driving modules 410, 420, 430, and 440 are coupled to each of the plurality of mecanum wheels 200 to enable individual driving. It can be.

For example, the first drive module 410 is connected to the mecanum wheel 200 located on the front right side of the modular pipe inspection robot 10, and the second drive module 420 is connected to the modular pipe inspection robot 10. ), the third drive module 430 is connected to the mecanum wheel 200 located on the front left side of the modular pipe inspection robot 10, and the fourth drive module 430 is connected to the mecanum wheel 200 located on the rear right side of the The driving module 440 may be connected to the mecanum wheel 200 located on the rear left side of the modular pipe inspection robot 10. The first to fourth driving modules 410, 420, 430, and 440 may individually provide power to the connected mecanum wheels 200, thereby enabling the plurality of mecanum wheels 200 to be individually driven.

The first to fourth driving modules 410, 420, 430, and 440 can have any configuration capable of providing power to the mecanum wheel 200. For example, the first to fourth driving modules 410, 420, 430, and 440 may include a driving motor to provide power and a battery to provide necessary power.

Figure 8 is an exploded perspective view of the sensor unit of the modular pipe inspection robot of Figure 1. Figure 9 is a cross-sectional view of the sensor unit of Figure 6 in a combined state.

Referring to Figures 8 and 9, the sensor unit 500 includes a case 510, a first lower support plate 520, a second lower support plate 530, a hole 540, a support member 550, and a spring 560. ) and a sensor 570. The sensor unit 500 can be coupled to the frame unit 100 to inspect pipes. Here, those skilled in the art can understand that in addition to the components shown in FIGS. 8 and 9, other general-purpose components may be further included in the sensor unit 500. there is.

The case 510 is coupled with a sensor 570, which will be described later, and can protect the sensor 570 from shock received during pipe inspection. Case 510 may have a hexahedral shape with the upper part curved and the lower part open. The case 510 may have a circular through hole 540 formed at a position corresponding to the position where the sensor 570 is coupled. Case 510 may be made of steel or plastic material with sufficient rigidity to protect the sensor 570 from impact received during pipe inspection. However, the shape and material of the case 510 are not limited to this and various shapes and materials may be possible.

The first lower support plate 520 may be coupled to the body 130 to support the second lower support plate 530, which will be described later, at the bottom. The first lower support plate 520 may have a hexahedral shape with a groove for accommodating the second lower support plate 530, which will be described later. The first lower support plate 520 may be made of steel or plastic material with sufficient rigidity to protect the sensor 570 from impact received during pipe inspection. However, the shape and material of the first lower support plate 520 are not limited to this and may have various shapes and materials.

The second lower support plate 530 may be coupled to the upper part of the first lower support plate 520 to support the case 510. The second lower support plate 530 may have a hexahedral shape with a groove for accommodating the case 510. The second lower support plate 530 may have a circular hole penetrated by a support member 550 to be described later. The second lower support plate 530 may be made of steel or plastic material with sufficient rigidity to protect the sensor 570 from impact received during pipe inspection. However, the shape and material of the second lower support plate 530 are not limited to this and may have various shapes and materials.

The support member 550 is formed by penetrating the second lower support plate 530, and can be fixed by penetrating a spring 560, which will be described later. The support member 550 may extend in a direction perpendicular to the bottom of the second lower support plate 530. It may have a cylindrical shape with a diameter corresponding to the circular hole of the second lower support plate 530. The support member 550 may have a cylindrical shape with a lower end larger in diameter than the upper end to prevent the spring 560 from falling off. The support member 550 may be made of steel or plastic material with sufficient rigidity to maintain a vertical direction even when subjected to impact during pipe inspection. However, the shape and material of the support member 550 are not limited to this and may have various shapes and materials.

The spring 560 is located inside the case 510 and can push the case 510 using elastic force. Spring 560 may be a spirally wound coil spring. The spring 560 is inserted into the support member 550 and fixed by the second lower support plate 530 and can push the case 510 and the sensor 570 coupled to the case 510. The sensor 570 coupled to the case 510 by the spring 560 can be attached to the inner surface of the pipe to perform inspection.

The sensor 570 is coupled to the case 510 and can measure the piping condition. The sensor 570 is protected by the case 510 and can measure the inner surface of the pipe through the through hole 540 of the case 510. The sensor 570 can be of any configuration for measuring the pipe condition. For example, the sensor 570 may be an MFL sensor, a camera for photographing the inside of a pipe, or various sensors capable of non-destructive testing.

Referring to FIG. 9 , the case 510 of the sensor unit 500 and the sensor 570 coupled to the case 510 may be able to move in a direction perpendicular to the second lower support plate 530. The case 510 and the sensor 570 coupled to the case 510 can maintain the position attached to the inner surface of the pipe by the elastic force of the spring 560.

Referring to FIG. 1, the permanent magnet 600 may include a first permanent magnet 610 and a second permanent magnet 620. Here, those skilled in the art can understand that in addition to the components shown in FIG. 1, other general-purpose components may be further included in the permanent magnet 600.

The permanent magnet 600 is coupled to the frame portion 100 and can be in close contact with the pipe using magnetism. The permanent magnet 600 has a first permanent magnet 610 and a second permanent magnet 620 located on both sides of the sensor unit 500 to prevent the sensor unit 500 from losing its balance. The permanent magnet 600 may be a magnet with sufficient magnetism to adhere closely to the pipe.

Referring to FIGS. 1 to 3 , the clamp 700 may include a tightening member 710 and a lever 720. Here, those skilled in the art can understand that in addition to the components shown in FIGS. 1 to 3, other general-purpose components may be further included in the clamp 700.

The clamp 700 is located on the side plate 120, and the permanent magnet 600 and the sensor unit 500 can be replaced, fixed, or height adjusted by adjusting the lever 720, which will be described later.

The tightening member 710 may be formed to penetrate the side plate 120 and the body 130. The fastening member 710 can have any configuration capable of fixing the side plate 120 and the body 130.

The lever 720 is coupled to the tightening member 710 to facilitate attachment and detachment of the permanent magnet 600 and the sensor unit 500 attached to the body 130 by manipulating the tightening member 710. The lever 720 can detach the permanent magnet 600 and the sensor unit 500 by manipulating the lever 720, so the height of the permanent magnet 600 and the sensor unit 500 can be adjusted and then fixed or the permanent magnet 600 can be adjusted. 600 and sensor unit 500 can be replaced with another permanent magnet 600 and sensor unit 500 and then fixed. The lever 720 can have any configuration that can manipulate the tightening member 710.

Figure 10 shows an example in which a modular pipe inspection robot according to an embodiment of the present invention is utilized.

Referring to FIG. 10, the modular pipe inspection robot 10 can be manufactured to be small compared to the diameter of the pipe. If a plurality of such small modular pipe inspection robots 10 are connected and arranged to correspond to the diameter of the pipe, they can be used for pipes with various dimensions ranging from small to large. The modular pipe inspection robots 10 may be connected to each other by the connection portion 300 to form a closed loop. The modular pipe inspection robots 10 are connected to each other, arranged along the circumference of the pipe, and can inspect the pipe by traveling in the forward and backward directions and in the spiral direction.

Above, an embodiment of the present invention has been described, but those skilled in the art can add, change, delete or add components without departing from the spirit of the present invention as set forth in the patent claims. The present invention may be modified and changed in various ways, and this will also be included within the scope of rights of the present invention.

10 Modular pipe inspection robot
100 frame part
200 Mecanum Wheel
300 connection
400 driving part
500 sensor unit
600 permanent magnet
700 clamp

Claims (7)

It is a modular pipe inspection robot that is connected to each other to form a closed loop,
frame part;
a driving unit coupled to the frame unit;
a plurality of mecanum wheels connected to the driving unit and capable of moving in all directions;
A sensor unit coupled to the frame unit to inspect the pipe, and
It includes a connection part coupled to the frame part,
The driving unit includes at least one driving module,
The driving module is coupled to each of the plurality of Mecanum wheels to enable individual driving,
The connection part is
a protruding member that protrudes in one direction from the frame portion and has a hole formed at a corresponding position;
a connection member having a protrusion fitted into the through hole of the protruding member and a protruding protrusion formed at a position that is at least different from the protrusion fitted into the through hole;
An extension member extending in one direction is connected to a protrusion of the connecting member that is not inserted into the through hole,
The connection member is coupled to the protruding member of one modular pipe inspection robot, the connection member is coupled to the protrusion member of another modular pipe inspection robot, and the extension member is connected to each connection member. This connects adjacent modular pipe inspection robots to each other.
The frame part has permanent magnets disposed on both sides of the sensor part, and the permanent magnets are inclined in a direction away from the sensor part and are exposed to the outside of the frame part to apply a magnetic force that can be attached to the pipe,
The sensor unit
A first lower support plate that is open on the upper side and whose inner peripheral surface is stepped so that the length of one side becomes smaller as it goes downward, and one side that is the longest of the inner surfaces of the first lower support plate and is disposed on the inside of the first lower support plate. a second lower support plate disposed with a length on one side shorter than the length of the inner side;
a gap formed by a difference in length between the length of one side of the inner surface of the first lower support plate and the length of one side of the second lower support plate;
a case that is open on the lower side and is formed in a curved shape, the end of which is placed in the gap and is drawn into the gap when pressed;
A spring disposed between the second lower support plate and the case to elastically push the case when the case is moved downward.
A modular pipe inspection robot featuring. delete According to claim 1,
A modular plumbing inspection robot further comprising a clamp capable of replacing, fixing, or height-adjusting the permanent magnet and the sensor unit by adjusting a lever. According to claim 1,
The Mecanum wheel,
at least one roller;
a roller support plate to which the rollers are coupled;
A hub connected to the driving unit; and
A modular plumbing inspection robot comprising a wheel fixing member that penetrates the hub and the roller support plate and fixes the roller support plate to the hub. According to claim 1,
The sensor unit,
A modular plumbing inspection robot comprising a sensor coupled to the case. delete According to claim 1,
A modular plumbing inspection robot, characterized in that the length of the connecting member of the connecting portion is adjustable.