KR20020080283A - Robot steering apparatus for inspection pipelines - Google Patents

Abstract

PURPOSE: A mobile robot steering apparatus is provided to allow a mobile robot to move along a pipe in order to inspect an internal part of the pipe by adjusting a pressing force to a wall depending on the state of the wall. CONSTITUTION: A mobile robot steering apparatus includes a pair of fixing attachment sections(33a,33b) which are coupled to ends of a mobile robot. A universal joint(38) having fixing shafts(52a,52b) is inserted into a center of the fixing attachment sections(33a,33b). Hemispherical rotating members(40a,40b) are slantingly installed about the universal joint(38) in order to surround the universal joint(38). A potentiometer(36) and a rotational driving section(30) are provided to adjust a rotating angle of the hemispherical rotating members(40a,40b).

Description

ROBOT STEERING APPARATUS FOR INSPECTION PIPELINES}

The present invention relates to a mobile robot steering device for the internal inspection of the pipe, and more particularly, it is possible to inspect the safety of the equipment while running smoothly inside the pipe, such as pipes that are underground and ground, as well as vertical pipe, The present invention relates to a mobile robot steering apparatus for inspecting internal pipes that can be easily moved along pipes regardless of pipe diameters of any type such as curved pipes and branch pipes.

Conventional city gas pipes, water and sewage systems, petrochemical plant pipes, and steam pipes used in cogeneration plants are closely related to our lives and are commonly used. In particular, such as pipes where dangerous substances such as flammable gases flow inside, Disasters caused by the loss of human resources can lead to the loss of many lives and property and the destruction of the natural environment.

Therefore, the piping equipment should not only be designed, constructed, and operated, but also to ensure the safety of the equipment by always inspecting and diagnosing deterioration of performance due to changes in time and environment.

Until recently, in-pipe inspection systems for the installation of safe pipes are classified into a walking type, a wheel type, a caterpillar type and a stretch type according to a moving method.

The walking type is very inferior in practicality, and the wheel type can be moved very efficiently in the straight pipe, but it is difficult to move in the vertical pipe or curved pipe, and the crawler type can provide satisfactory mobility and robustness in turning. But it requires a lot of energy when driving, there is a problem that foreign matter enters the track.

In addition, the telescopic type has the advantage of being able to move in vertical and curved pipes, but not only has a complicated mechanism for crimping on the wall inside the pipe, it is also difficult to adapt to changes in the inner diameter of the pipe, The disadvantage is that it is impossible to move where steering is required, such as branch pipes.

Accordingly, the present invention has been made in view of the above-described conventional problems, and its object is to enable the steering to smoothly move the branch pipe and the curved pipe through the active universal joint, and through a crimping link structure that acts actively. It is to provide a mobile robot steering device for the internal inspection of the pipe that can move the inside of the pipe by adjusting the wall compression force according to the state of the wall.

1 is a view showing a mobile robot for the internal inspection of the pipe of the present invention.

Figure 2 is a cross-sectional view showing a state in which the mobile robot for the internal inspection of the pipe of the present invention unfolded.

Figure 3 is a view showing a state in which the mobile robot for pipe internal inspection of the present invention is folded.

Figure 4 is a view showing a position angle formed a moving wheel of the mobile robot for inspecting the internal pipe of the present invention.

5 is a view showing that the steering device is mounted between the mobile robot for inspecting the internal pipe of the present invention.

Figure 6 is a cross-sectional view showing a steering device of the mobile robot of the present invention.

Explanation of symbols on main parts of drawing

1: body 2a, 2b: moving wheel

4a: outer horizontal link 4b: inner horizontal link

5a, 5b Support link 7: Pantograph link

10: sliding section 11: forward and backward driving part

12: power transmission belt 13: moving control plate drive unit

14: spring 16: shifting plate

18: Rotation screw 22: Gear

24: gear 30,32: rotary drive unit

33a, 33b: 36: potentiometer

38: active universal joint 40a, 40b: rotating hemisphere

44: cylindrical bushing 50a, 50b: bearing

52a, 52b: fixed shaft 68: gear

70: worm gear 72: lifting device

In order to achieve the object of the present invention as described above, the robot steering device for the internal inspection of the pipe has a forward and backward drive unit for accommodating the gear and worm gear on the tomorrow side, the gear coupled to the rotational movement screw on the other side; A body having a movement adjusting plate driving unit for receiving a gear coupled to the gear, and a central portion of the body, and having a sliding piece on one side, a spring on the center, and a movement control plate on the other side of the spring. A moving lifting device; An operating link is formed at one side of the upper and lower devices and the upper portion of the sliding piece, and an interlocking link is formed at one side of the gear to receive a power transmission belt to form an X shape, and the same as the operating link and the interlocking link. The robot apparatus is configured to include a pantograph-type link formed of a support link which is formed to be coupled to one end of the inner horizontal link and the outer horizontal link which are horizontally formed to be movable, and a moving wheel formed at one end of the interlocking link. The steering device of the mobile robot is formed between the mobile robots configured as described above and connected in series.

The steering apparatus of the mobile robot of the present invention includes an active universal joint having a fixed attachment portion and a fixed shaft formed between the fixed attachment portion and being fixed to the center side, and formed to surround the outer circumference of the active universal joint. It consists of a rotating hemisphere cut diagonally from 20 ° to 24 ° in a diagonal direction with respect to the universal joint, and a rotation angle adjuster and a rotation driving unit formed to adjust and rotate the rotation angle of the rotating hemisphere.

The mobile robot steering apparatus for inspecting internal pipes of the present invention configured as described above will be described in detail as follows.

In the present invention, the body 1 of the mobile robot formed to smoothly move the inside of the pipe, the front and rear vibration driving unit 11 for accommodating the gear 68 and the worm gear 70 is provided on the tomorrow side, the other side As it is formed a gear 24 coupled to the rotary screw 18 is formed with a long axis and the movement control plate driving unit 13 for receiving the gear 22 coupled to the gear 24.

In addition, the sliding portion 10 is formed on the central portion, one side of the body 1, the other side of the movement control plate 16 having a hole formed with a screw for receiving the rotation screw 18 It is formed, the lifting and lowering device 72 consisting of a spring 14 is formed between the sliding piece 10 and the movement control plate 16.

In addition, an operation link 6 is formed at one side of the upper portion of the sliding piece 10 of the lifting and lowering device 72, and an interlocking link 8 for receiving the power transmission belt 12 at one side of the gear 68. ) Are formed to cross each other to form an X-shape.

An outer horizontal link 4a and an inner horizontal link 4b that horizontally receive the power transmission belt 12 are formed horizontally at the center and one end of the interlocking link 8, and the inner horizontal link 4b and the outer side thereof are horizontally formed. One end of the horizontal link 4a is formed with support links 5a and 5b which are bent in a substantially V-shape to be connected to each other, and one end of the support link 5a and the linkage link 8 is a moving wheel ( A pantograph-shaped link 7 formed with 2a) and 2b is formed.

The configuration and operation relationship of the mobile robot of the present invention formed as described above will be described in detail below with reference to the accompanying drawings.

1 is a view showing a mobile robot for the internal inspection of the pipe of the present invention, Figure 2 is a cross-sectional view showing the unfolded state of the mobile robot for the internal inspection of the pipe of the present invention, Figure 3 is a movement for the internal inspection of the pipe of the present invention. 4 is a view showing a state in which the robot is folded, Figure 4 is a view showing the position angle of the moving wheel of the mobile robot for the test pipe inside the pipe of the present invention, Figure 5 is a steering device between the mobile robot for pipe inside inspection of the present invention. Is a view showing that is mounted, Figure 6 is a cross-sectional view showing a steering device of the mobile robot of the present invention.

As shown in Figs. 1 to 3, the elevation operation for bringing the pantograph-type moving wheels 2a and 2b into close contact with the inner wall of the pipe is performed by operating the movement adjusting plate driving unit 13 to operate the gear 22. When rotated, another gear 24 meshed with the gear 22 is rotated, and the rotation screw 18 having a long shaft is integrally formed with the movement control plate 16 at the gear 24. Rotation is achieved.

Therefore, the movement control plate 16 is moved along the longitudinal direction of the body 1 by the rotation of the rotation movement screw 18 coupled to the through hole having a screw thread on one side of the movement control plate 16.

At this time, the movement control plate 16 of the elevating and lowering device 72 pushes the spring 14, and the elastic force of the spring 14 moves the sliding piece 10, which is formed on one side of the sliced back piece 10. The operation link 6 is pushed up to bring the moving wheels 2a and 2b of the pantograph-type link 7 into close contact with the inner diameter of the pipe.

On the contrary, when the pantograph-shaped link 7 in close contact with the inner diameter of the tube is lowered, when the movement control plate driving unit 13 is rotated in reverse, the movement control plate 16 moves in reverse, and the movement control plate 16 The integrally connected spring 14 and the sliding piece 10 are also moved in reverse, so the pantograph-shaped link 7 is lowered.

Here, the movement control plate 16 can be automatically moved to adjust the distance to be pushed and the distance to be pulled, the elastic force of the spring 14 is increased when the force is further applied when pushing the pipe inner diameter portion More firmly adheres to.

Since the actuating link 6 and the interlocking link 8 are made of X type, the pantograph type link 7 can be raised or lowered with only half the force by the lever principle. It is to bring strength gains.

In addition, when the pantograph-type link (7) operated as described above is raised and compressed to the tube wall surface, the forward and backward driving unit (11) is operated to drive for movement, first, the previous backward driving unit (11) The worm gear 70 formed on one side rotates, the gear 68 engaged with the worm gear 70 rotates, and the power transmission belt 12 of the linkage link 8 formed on one side of the gear 68 is rotated. When rotated, the power transmission belt 12 of the outer horizontal link (4a) connected to the interlocking link (8) is also rotated in conjunction with the movement wheels (2a, 2b) by rotating to move.

When the moving wheels 2a and 2b of the pantograph-shaped link 7 are moved back and forth to move along the inside of the pipe, a plurality of power transmissions are performed on the linkage link 6 and the outer horizontal link 4a. Since the belt 12 is interlocked with each other and installed so that the moving wheels 2a and 2b rotate smoothly at the same time, the straightness is excellent, and the driving force can be transmitted regardless of the folded angle of the link.

As shown in FIG. 4, the moving wheels 2a and 2b are installed at intervals of 120 ° around the circle so that the moving wheels 2a and 2b can be seated to exactly contact the inner diameter of the pipe. Since the area that is in contact with the inner diameter is also wider, the driving stability is improved, so even if a small video camera is mounted on the front of the mobile robot, the main cause of the screen shake is not shaken.

Steering device 20 of the present invention, as shown in Figure 5, is a device that can be installed between the mobile robots connected by the above configuration to adjust the running direction.

As shown in the cross-sectional state of FIG. 6, the steering apparatus 20 of the present invention has fixed attachment portions 33a and 33b that can be coupled to a mobile robot on the left and right sides, and the fixed attachment portion 33a. Between the and 33b, the rotary hemispheres 40a and 40b are fitted so as to rotate freely, respectively.

In addition, the active universal joint 38 is mounted between the fixed attachment portion 33a and the fixed attachment portion 33b so that the above portions are not fixed at regular intervals and fall apart.

Rotating hemispheres 40a and 40b are formed on the outer circumferential surface of the active universal joint 38 mounted as described above, and the rotating hemispheres 40a and 40b are formed around the longitudinal direction of the mobile robot. It is cut diagonally at 20 degrees-24 degrees in a perpendicular diagonal direction.

The shapes of the rotating hemispheres 40a and 40b may be set to the above ranges of angles cut diagonally in the diagonal direction, but most preferably, they are formed to be inclined at 22 °.

Bearings 50a and 50b are fitted inside the rotating hemispheres 40a and 40b, respectively, so that the rotating hemispheres 40a and 40b rotate smoothly. Since the cylindrical bush 44 is fitted inside, each of the rotating hemispheres 40a and 40b is configured to rotate with each other.

Since the rotating hemispheres 40a and 40b can be rotated opposite to each other, when the mobile robot mounted on the front side is rotated to move along the shape of the curved tube, the mobile robot is naturally bent to set the moving direction in advance. Or it can move smoothly in a branch pipe.

The rotary hemispheres 40a and 40b are fitted so that one side portion protrudes and rotates toward the fixed attachment portions 33a and 33b, and the rotary drive part 30 for rotating the rotary hemispheres 40a and 40b. Is formed.

The rotary hemispheres 40a and 40b are rotated by the rotation of the rotary drive units 30 and 32, that is, the respective rotary drive units 30 and 32 to set the driving direction of the mobile robot. Since the bearings 50a and 50b fitted to the inside are inserted to rotate differently from each other, the rotation hemispheres 40a and 40b are twisted and operated so that the direction of rotation of the mobile robot is set by the twist angle. do.

In addition, by rotating the rotation hemispheres (40a), (40b) by controlling the angle of the direction in which the mobile robot proceeds, the rotation angle controllers 36, 34 are formed to set the correct rotation value Therefore, it increases the driving safety of the mobile robot.

The bearings 62 and 64 are inserted between the fixed attachment portions 33a and 33b and the rotary hemispheres 40a and 40b to reduce friction, and the rotary hemispheres 40a and 40b are fitted. Since the bearing is sandwiched between the rudder universal joint 38 and the inner side, the rotary hemisphere 40a, 40b and the active universal joint 38 can obtain the rotational force necessary for steering force without interfering with each other. It is configured to be.

Accordingly, the present invention is capable of steering by smoothly moving the branch pipe and the curved pipe through the universal joint, by the mobile robot steering device for the internal inspection of the pipe, according to the state of the wall through the active crimping link structure There is a feature that can be moved by adjusting the wall pressing force.

Due to the present invention as described above, pipes that require continuous repair work after construction of city gas pipes, water and sewage pipes, petrochemical plant pipes, etc., which are mostly buried underground, are tested for performance degradation and non-destructive testing through the mobile robot of the present invention. Equipped with a device that can be easily moved, there is an effect that can prevent the time and economic losses required for work.

In addition, the conventional problems do not overcome the change in the observation, but the present invention can not only overcome the limiting factors such as change in diameter, such as bent pipe, vertical pipe branch pipe, etc., in particular in the vertical pipe can withstand its own weight Sufficient wall compaction force can be achieved to overcome the traction and slippage, so that the control module and the non-destructive inspection module can be secured.

It is an active universal joint part, which can switch to the direction of the mobile robot by preventing twisting of sensor signal line and motor control line in the part where the direction of branch pipe and curved pipe is required, so that any change condition in pipe such as curved pipe, vertical pipe, branch pipe, etc. It is possible to smoothly carry out the work because it is possible to move.

Claims (2)

In the steering device for changing the direction of the mobile robot for inspection inside the pipe, Fixing and fixing parts 33a and 33b formed to be coupled to each end portion of the mobile robot in series; An active universal joint 38 having fixed shafts 52a and 52b which are fitted and fixed to the center side between the fixed attachment portions 33a and 33b; Rotating hemispheres 40a and 40b which are formed to surround the outer circumference of the active universal joint 38 and are diagonally cut at 20 ° to 24 ° in a diagonal direction with respect to the active universal joint 38; Piping, characterized in that each of the rotating hemispheres (40a, 40b) is rotated to be twisted with each other to change the direction, the rotation angle adjuster 36 and the rotation driving unit 30 is formed to adjust the rotation angle Mobile steering device for internal inspection of the vehicle. According to claim 1, wherein the bearings (50a, 50b) are formed so as to rotate each inside the rotary hemispheres (40a), 40b, and is fitted to the inner peripheral surface of the bearing (50a, 50b) is fixed Mobile robot steering device for the internal inspection of the pipe, characterized in that it further comprises a cylindrical bushing (44).