KR20040044009A - Robot system for inspecting inside equipments of furnace - Google Patents

Abstract

PURPOSE: A robot system is provided to easily check the defected positions inside a furnace by easily moving at right angles and exactly checking the moved positions of a robot. CONSTITUTION: A fixing bar(10) has a drum(25) for a robot driving rope(11a) and a pair of guide rope drums(26). The fixing bar is fixed in the upper part of a furnace. A robot(12) is guided to an exact position by the ropes and encoders(20,20a). The robot has a camera(15) and a lighting device to photograph the inside of the furnace. A vertical moving bar(30) is formed in the moving bar to move the ropes vertically for moving the robot vertically. A horizontal moving bar(31) is formed in the vertical moving bar to move the ropes horizontally for moving the robot horizontally. A camera driving device is formed in the robot to rotate the camera and the lighting device upward, downward, leftward and rightward. Thereby, the facilities are inspected without entering inside the furnace.

Description

Robot system for inspecting inside equipments of furnace

The present invention relates to a robot for checking an abnormality of a furnace facility, and more particularly, to a robot system for inspecting a furnace facility including a camera rotatable 180 ° to an exploration unit.

In general, the cold rolled annealing furnace heats the cold rolled steel sheet to recrystallize and grow the rolled structure, thereby removing internal stress and forming a structure having appropriate toughness. It is a process of making the material of metal desired by the consumer by heating and cooling accordingly.

The annealing furnace consists of facilities such as nozzles and heating elements, and periodically checks for abnormalities of nozzles and radiant tubes.However, the conventional heat dissipation tube check is performed by a person directly entering the furnace and relying on a safety line. In the state, the inspection was performed by moving up and down the inside of the furnace having a depth of 20 m.

Such conventional methods also present a risk of collision and collision with the internal equipment of the furnace and the risk of asphyxiation due to internal nitrogen gas. In addition, since it is necessary to check with human eyes in a dark space, it is unclear whether the facility is abnormal and the inspection time takes a long time.

In addition, since the heat dissipation tube of the crack stage and the electric heater of the over-aging stage, etc., which are difficult for the operator to input, cannot be confirmed, there is a problem that normal facility management cannot be performed.

Conventionally, a method of measuring a crack of a pipe with an electromagnetic induction type sensor has been proposed as the robot moves along the pipe to check the crack of the pipe as in Japanese Laid-Open Patent JP2001-264300. This method is difficult to apply in a vertical vertical survey of 20 meters because the piping is horizontal while using an electromagnetic induction sensor.

Another conventional technique is a robot that checks pipes with a camera while moving the pipe wall up and down. However, this conventional technique is applicable to the inside inspection of the furnace, but it is difficult to move the robot vertically by the equipment inside the furnace. It is difficult to pinpoint the location of equipment inside the furnace because it has the disadvantage of not being able to pinpoint the location.

The present invention has been devised to solve the above-mentioned conventional problems, in order to check the abnormality of the internal equipment of the furnace having a height of 20m or more, the vertical movement is free, the exact position of the robot to accurately grasp the movement position of the inside of the furnace The purpose is to provide a robotic system for inspecting the facility inside the furnace that can easily identify its location.

1 is a block diagram of the robot system for checking the furnace interior of the present invention.

Figure 2 is a schematic plan view of the robot body moving apparatus of the present invention.

3 is a block diagram of a robot body of the present invention.

(Explanation of symbols for the main parts of the drawing)

10: fixing rod 11: guide rope

11a: robot driving rope 12: robot

13 weight 14 light fixture

15: Camera 16: Camera Up / Down Servo Motor

17: left and right rotation drive servo motor 18: left and right drive servo motor

19: rotating shaft 20, 20a: encoder

21: lateral rack gear 22: lateral drive motor

23: longitudinal rack gear 24: longitudinal drive motor

25: Drum for robot drive rope 26: Guide rope drum

30: longitudinal feed table 31: transverse feed table

32: robot driving motor 33: guide roller

34: guide bar 35: guide rope drive motor

41: bearing 42: shaft

43,44: Belt 45: Pulley

46: idle shaft 51: frame member

52: camera head

As described above, the robot drive rope drum, the robot drive rope is wound, a pair of guide rope drum is wound around the pair of guide ropes are installed to rotate, the fixing rod is fixed to the top of the furnace; A robot which is guided to an accurate position by the robot driving ropes and an encoder measuring a moving amount of the rope, and has a camera and a lighting device for photographing the inside of the furnace; A longitudinal carriage provided on the stator to move the ropes in the longitudinal direction to move the robot in the longitudinal direction; A transverse carriage provided in the longitudinal carriage for moving the ropes in the transverse direction to move the robot laterally; It can be achieved by the robot system for checking the interior of the furnace according to the invention, characterized in that it comprises a camera driving means provided to the robot for rotating the camera and the lighting fixture up and down and left and right.

In the above, the longitudinal carriage is slide-coupled to the top of the stator, the gear driven rotationally by the longitudinal drive motor is coupled with the longitudinal rack gear provided on the stator, the transverse carriage is transverse drive The gear which is rotationally driven by the motor is engaged with the transverse rack gear installed on top of the longitudinal carriage.

In the above, the robot is provided with the frame member of the rectangular shape connected to the robot drive rope, the camera fixed to the frame member, the lighting device having a brightness control function located on both sides of the camera, the frame member The guide ropes are slidably connected, and an end of the guide ropes is provided with a weight for tensioning the guide rope.

The camera driving means includes a camera vertical drive servo motor for turning the camera and the lighting fixture in the vertical direction, a left and right rotation drive servo motor for rotating the camera in the horizontal rotation direction, and a camera head in which the camera and the lighting fixture are installed. A left and right drive servo motor for rotating left and right, wherein the camera and the lighting fixture is installed on the top plate of the camera head pivoted in the vertical direction.

Hereinafter, preferred embodiments of the present invention will be described in more detail with reference to the accompanying drawings.

1 is a block diagram of the robot system for checking the furnace interior of the present invention. As shown in FIG. 1, the robot system for inspecting internal furnace equipment according to the present invention includes a fixture 10 supported on an upper part of a furnace. The robot drive rope drum 25 to which the robot drive rope 11a for driving the robot 12 provided with the camera 15 up and down is wound on one side of the holder 10, and the robot 12 is moved up and down. A pair of guide rope drums 26 are provided on both sides of the drum 25 for robot drive ropes, to which the pair of guide ropes 11 for guiding the robot 12 are wound when moved to the.

The drum 25 for the robot drive rope is installed to be rotatable on a shaft 42 rotatably supported on the fixture 10 via a bearing 41, and the pair of guide rope drums 26 are arranged on the shaft 42. It is fixedly installed. The drum 25 for the robot drive rope is connected to the robot drive motor 32 through the belt 43 as shown in FIG. 2, and is driven to rotate by the robot drive motor 32. When the robot drive rope drum 25 is rotated, the robot drive rope 11a is unwound from the drum drive rope drum 25 or wound around the drum 25, thereby providing a robot connected to the robot drive rope 11a ( 12) Move up and down within this furnace.

On the other hand, the pair of guide rope drums 26 are fixed to the shaft 42 on both sides of the drum 25 for the robot drive rope, the belt 44 is connected to the pulley 45 provided at the end of the shaft 42 Is rotated by the driving of the guide rope drive motor (35). As described above, since the drum 25 for the robot drive rope is rotatably installed on the shaft 42, when the shaft 42 is rotationally driven by the guide rope drive motor 35, that is, the guide rope drum When the 26 are driven to rotate by the guide rope drive motor 35, the driving force of the guide rope drive motor 35 is not transmitted to the drum 25 for the robot drive rope. Therefore, the robot drive rope drum 25 and the guide rope drum 26 can be rotationally driven independently of each other.

As shown in FIG. 3, rod-shaped weights 13 are connected to the ends of the guide ropes 11 so that when the guide ropes 11 are lowered into the furnace, the guide ropes 11 are attached to the weights 13. It can be tense and kept in tension. Therefore, the guide ropes 11 can extend straight downward by the weight of the weight 13 when released from the guide rope drum 26 into the furnace.

The idle shaft 46 is installed on the holder 10 so that the idle shaft 46 can be rotated, and the idle shaft 46 is provided with a plurality of guide rollers 33 for guiding the ropes 11 and 11a. Encoder 20, 20a for measuring the amount of rotation of the guide roller 33, that is, the amount of movement of the ropes 11, 11a, is provided on the fixing table 10 adjacent to the guide rollers 33.

On the other hand, the holder 10 is provided with a longitudinal carriage 30 for conveying the ropes (11, 11a) in the longitudinal direction, and a transverse carriage (31) which is conveyed in the transverse direction on the longitudinal conveyer (30) do. The longitudinal carriage 30 is slide coupled to the top of the fixture 10 as can be seen from FIG. 1 and has a gear (not shown) that is rotationally driven by the longitudinal drive motor 24. This gear is coupled to a longitudinal rack gear 23 arranged longitudinally on the fixture 10 so that when the longitudinal drive motor 24 is driven, it is approximately 800 mm in the longitudinal direction from the top of the fixture 10. It is transported by the stroke distance. At this time, the longitudinal conveyance table 30 is guided without the left and right flow by the guide bar 34 provided on the inside and the outside of the fixing table (10).

The transverse carriage 31 installed in the longitudinal carriage 30 has a gear (not shown) which is rotationally driven by the transverse drive motor 22, which has a gear of the longitudinal carriage 30. It is gear-coupled with the transverse rack gear 21 provided in the upper part. Accordingly, the transverse carriage 31 is stroke of about 300 mm in the transverse direction along the transverse rack gear 21 provided on top of the longitudinal carriage 30 by the drive of the transverse drive motor 22. It is conveyed by a distance, and at this time, the transverse conveyance stand 31 is guided by the guide bar 35 provided in the upper part of the longitudinal conveyance stand 30.

The front surface of the transverse carriage 30 is provided with a plurality of guide rollers 33 for guiding the ropes 11 and 11a, and the amount of movement of these ropes 11 and 11a is guide roller 33 as described above. It is measured by a number of encoders 20, 20a provided on the side of the. Therefore, the movement amount of the ropes 11a is measured by the encoders 20 and 20a, respectively, so that the movement amount of the robot 12, that is, the position of the robot 12 can be accurately measured.

3 is a block diagram of the robot body of the present invention. As can be seen from FIG. 3, the robot 12 has a rectangular frame member 51 and both sides of the camera 15 and the camera 15 provided to the camera head 52 fixed to the frame member 51. Included is a light fixture 14 which is located at and illuminates the place to be photographed by the camera 15. As described above, the frame member 51 is connected to the guide ropes 11 through the brackets 50 installed at both sides of the robot driving rope 11a at the upper center portion and slidably connected to the upper center portion. Therefore, when moved by the robot drive rope 11a, it slides along the guide ropes 11. The luminaire 14 illuminates so that when the camera 15 photographs the inside of the furnace, the photographing can be correct. The luminaire 14 can preferably be adjusted in brightness.

The camera 15 is a CCD camera for facility inspection, is rotatably supported by a central portion of the top plate 52a of the camera head 52, and the top plate 52a of the camera head 52 can be seen from the drawing. As described above, the side plate 52b is provided to be pivoted in the vertical direction. The pulley 15a provided in the lower part of the camera 15 is connected to the left / right rotation drive servo motor 17 provided to the camera head 52, so that the camera 15 is adapted to drive the left and right rotation drive servo motor 17. It can be rotated 180 degrees in the left and right directions. On the other hand, the top plate 52a of the camera head 52 on which the camera 15 and the light fixtures 14 are supported is also supported by the camera 15 and the light fixtures 14 by the camera up / down drive servo motor 16. And in an angle range of about 90 ° in the vertical direction.

The operation of the present invention configured as described above will be described.

Robot for facility inspection inside the furnace according to the present invention having a structure as described above is first seated in the opening of the upper furnace, as shown in Figure 2 guide rope vertical drive motor 35 is operated, the guide rope ( 11 are released from the guide rope drums 26. The guide ropes 11 are lowered to the measurement position inside the furnace by the weight 13 provided at the end thereof, and when the guide ropes 11 are lowered to the measurement position, the guide ropes 11 can maintain a tensioned state by the weight 13.

At this time, the lowering distance of the guide rope 11 is the rotational amount of the ropes 11 guided by the guide roller 33 when the guide ropes 11 are lowered, so that the guide rope 11 is measured by the encoder 20a. Since the lowering position of the wheels can be controlled, accurate position control of the guide rope 11 is possible. When the guide ropes 11 are lowered into the furnace, the shaking phenomenon in the guide rope 11 is prevented by the weight 13 installed at the end of the guide rope 11.

When the guide ropes 11 are lowered into the lower part of the furnace by the operation of the guide rope up / down driving motor 35, the robot 12 then follows the guide ropes 11 for inspection of the inside of the furnace. Is drawn into the furnace. As shown in FIG. 2, the rotational driving force of the robot body vertical driving motor 32 is inserted into the furnace of the robot 12, and the robot driving rope drum is wound around the robot driving rope 11a through the belt 43. Is passed on to 25. The robot drive rope 11a is released by the rotation of the drum 25 for robot drive ropes, and the robot 12 connected to the robot drive ropes 11a descends into the furnace together with the robot drive ropes 11a. When the robot 12 is lowered, the robot 12 slides along the pair of guide ropes 11, with both sides of the frame member 51 of the robot 12 tensioned by the weight 13, without shaking. Descends.

On the other hand, the amount of rotation of the robot drive rope 11a is measured by the encoder 20 in the amount of rotation of the guide roller 33 on which the robot drive rope 11a is wound, and the robot 12 in the furnace by the measured distance value. Can be precisely controlled. Robot body driving motor 32 is preferably an AC motor that can adjust the vertical movement speed, the brake (not shown) is installed, fine speed adjustment and stop is also possible.

In addition, the camera 15 installed on the robot 12 during the furnace internal facility inspection performs facility exploration work through the up, down, left, and right rotation control as described above, and as shown in FIG. It turns by the drive servomotor 16 in the vertical range of approximately 90 degrees in the up-down direction, so that the inspection of the vertical center portion of the in-house equipment can be performed satisfactorily.

In addition, the left and right rotation control of the camera 2, the camera left and right rotation drive servo motor 17 is operated by the rotation operation signal as shown in Figure 3, the rotational force of the left and right rotation drive servo motor 17 is the belt 17a Is transmitted to the camera left and right rotation pulley 15a. By the rotational force transmitted to the rotating pulley 15a, the camera 15 can be rotated 180 degrees, and the left and right parts can be inspected within a short time. As shown in FIG. 3, the left and right driving servo motor 18 is operated by the rotation operation signal, and the rotational force of the left and right driving servo motor 18 is the camera left and right rotation pulley 18a. And the left and right rotating shafts 19 through the belt 18b. The rotational force transmitted to the rotating shaft 19 allows the camera head 52 to be rotated 180 °, and can be easily checked rearward without moving the probe when checking the radiating tube and cooling nozzle. And the CCD camera 15 can check even a micro defect by a zoom function, and can perform favorable inspection even in a dark place by the luminaire 14 which can adjust brightness.

In order to control the movement of the robot 12 to improve the inspection capability inside the furnace without moving the entire robot 12, as shown in FIG. 1, when the lateral movement is required, the lateral drive motor 32 By the drive, the transverse conveyance table 31 moves in the transverse direction along the transverse rack gear 21 provided in the longitudinal conveyance table 30, and when it moves in the longitudinal direction, the rotational force of the longitudinal drive motor 24 Can move on the longitudinal rack gear 23.

As described above, according to the present invention, the inspection robot moves up and down along the two guide ropes that are introduced into the furnace from the frame member installed at the upper part of the furnace, and the camera is controlled through three-axis control such as up, down, left and right, and rotation. It takes images of the state of the facility inside the furnace, and transmits the image to a monitor located outside the furnace, so that the state of the furnace facility can be determined from the outside. Therefore, it is possible to eliminate the risk of falling and falling accidents as the facility inspection is possible without the operator directly entering the furnace.

In addition, it is possible to check the status of refrigeration nozzles, electric heaters, refractory walls, etc., which were difficult to check, and greatly improved the efficiency of facility management. have.

Claims (4)

Fixing stand fixed to the upper part of the furnace is installed to rotate the drum 25 for the robot drive rope (25a) is wound around the robot drive rope (11a) and the pair of guide rope drums (26) around the pair of guide ropes (11) 10; Guided to the correct position by the encoder (20, 20a) for measuring the movement amount of the rope (11a, 11) and the rope (11a, 11), the camera 15 and the light fixture 14 for shooting the inside of the furnace Robot 12 having a; A longitudinal conveyer (30) provided in the holder (10) for moving the ropes (11a, 11) in the longitudinal direction to move the robot (12) in the longitudinal direction; A transverse carriage (31) provided in the longitudinal carriage (30) for moving the ropes (11a, 11) in the transverse direction to move the robot (12) in the transverse direction; And a camera driving means provided to the robot (12) for rotating the camera (15) and the lighting fixture (14) vertically and horizontally. According to claim 1, wherein the longitudinal carriage 30 is slide-coupled to the upper portion of the holder 10, a gear that is rotationally driven by the longitudinal drive motor 24 is provided on the holder (10). Coupling with the longitudinal rack gear 23, the transverse carriage 31 is a transverse rack gear (rotationally driven by the transverse drive motor 22 is installed on top of the longitudinal carriage 30 ( 21) a robotic system for checking the facility inside the furnace, characterized in that coupled to. According to claim 1, wherein the robot 12 is the frame member 51 of the rectangular shape connected to the robot drive rope (11a), the camera 15 fixed to the frame member 51, the camera ( 15 is provided on both sides of the lighting fixture 14 having a brightness control function, the frame member 51 is connected to the guide ropes 11 slidably, the end of the guide ropes 11 A robot system for checking facility inside a furnace, characterized in that a weight (13) is provided for tensioning the guide rope (11). 2. The camera driving means according to claim 1, wherein the camera driving means includes a camera vertical drive servo motor (16) for turning the camera (15) and the lighting fixture (14) in the up and down direction, and a camera (2) for rotating in the left and right rotation directions. A left and right rotation drive servo motor 17 and a left and right drive servo motor 18 for rotating the camera head 52 on which the camera 15 and the lighting fixtures 14 are installed, left and right, and the camera 15 And the lighting fixture (14) is installed on the top plate (52a) of the camera head (52) pivoting in the vertical direction.