KR20190136416A - Drive apparatus for pipe nondestructive inspection appparatus - Google Patents

Abstract

The present invention relates to a driving apparatus applied to a nondestructive pipe inspector. The driving apparatus includes: a main body forming a framework; upper and lower body parts installed in the upper and lower parts of the main body to be able to be moved up and down to adjust a gap depending on the internal diameter of a pipe for driving; driving wheels made of Mecanum wheels to enable omnidirectional rotation, and installed in the upper and lower body parts respectively to be rotatable; a driving part producing driving force to rotate the driving wheels; sand an actuator producing driving force to move the upper and lower body parts up and down. Therefore, since the composition for driving in pipes of various shapes and sizes is prepared, four driving modes which are linear driving, rolling, curve driving and lateral driving can be combined to enable driving for most pipe shapes, so various processes such as inspection, cleaning and the like can be conducted in a pipe.

Description

DRIVE APPARATUS FOR PIPE NONDESTRUCTIVE INSPECTION APPPARATUS}

The present invention relates to a traveling device applied to a pipe non-destructive testing device, and more particularly to a traveling device applied to a pipe non-destructive testing device for inspecting a pipe using an internal source method.

In the various industries such as shipbuilding, construction, nuclear power, and plant where piping is installed, defect inspection of welding joints and internal foreign matters are required when producing piping.In addition, cleaning, visual inspection, etc. The work is performed.

Piping applied to these industries is a combination of pipe parts of various shapes and sizes, such as straight pipe, elbow pipe, T-branch, reducer pipe.

That is, when installing pipes in industrial sites, each pipe should be connected to each other due to the length of the pipe or the characteristics of the installation area.

In this way, in order to connect the pipes with each other, welds are generated because the pipes having a predetermined length are welded to each other for construction. Such welds include pipe connections for welding straight pipes and straight pipes, and pipe connections for connecting straight pipes and curved pipes.

In this way, if a weld occurs in the pipe, an inspection is required to confirm the integrity of the weld. Therefore, the inspection is performed in a non-destructive manner so as not to damage the pipe.

Among the non-destructive tests, the radiation non-destructive test acquires a photographing film through radiographic imaging, and reads the obtained photographing film to confirm the integrity of the welded portion.

For example, Patent Literature 1 and Patent Literature 2 below disclose techniques of a radiation irradiator, a pipe inspection apparatus, and an inspection method according to the prior art.

Republic of Korea Patent Publication No. 10-2016-0069113 (June 16, 2016 published) Republic of Korea Patent Registration No. 10-1825654 (August 5, 2018 announcement)

On the other hand, for the internal inspection of the pipes is a traveling device that can move inside the pipe corresponding to various shapes and sizes is essential.

However, the traveling device technology or commercial products according to the prior art are mostly dedicated equipment that can only move inside the pipe of limited shape and size.

For this reason, the traveling device according to the prior art is limited to inspecting pipes of various shapes and sizes, as it is applicable only to pipes that are horizontal to the direction of gravity and are straight pipes.

In addition, the traveling device according to the prior art has a problem in that it is impossible to avoid obstacles or foreign matter inside the pipe as the in-situ rotation is impossible.

In addition, the traveling device according to the prior art has a problem that it is impossible to travel and select driving inside the tee tube due to the departure of the driving wheel.

An object of the present invention is to solve the problems as described above, to provide a traveling device that is applied to the pipe non-destructive inspection device that can travel inside the pipe of various shapes and sizes for the internal inspection and cleaning of the pipe.

Another object of the present invention is to provide a traveling device which is applied to a pipe non-destructive inspection device capable of traveling by avoiding obstacles or foreign matter inside the pipe.

In order to achieve the object as described above, the traveling device applied to the pipe non-destructive inspection device according to the present invention, the upper and lower parts of the main body so as to adjust the interval according to the body forming the skeleton, the inner diameter of the pipe to run The upper and lower body parts respectively installed to be movable in the up and down direction, provided with a mecanum wheel to enable omni-directional rotation, the driving wheels rotatably installed to the upper and lower body parts, respectively, to rotate the driving wheels It includes a drive unit for generating a driving force and an actuator for generating a driving force to move the upper and lower body portion in the vertical direction to drive the inside of the pipe of various shapes and sizes.

The present invention further includes a control terminal for remotely controlling the driving of the traveling device, wherein the control terminal includes a rotation speed and a rotation speed of each driving wheel for implementing a translation speed and a rotation speed of the main body at the center of the traveling device. The direction is calculated and transmitted to the command of the driving motor for driving each driving wheel based on the calculated rotation speed and the rotation direction.

The upper and lower body parts are provided in a symmetrical structure with each other, the main body is formed in a rectangular cylindrical shape having a hollow provided with an installation space therein, so that the necessary work tool can be installed according to the inspection work method, the inspection space The container is stored inside the radiation source during the operation, the robot arm and the gripper is installed during the cleaning operation.

The actuator is installed on one surface of the main body, and an electronic device box including a controller, an emergency battery, and a control part for driving the driving part is installed on the other surface of the main body, and the main body is provided at front and rear ends of the electronic device box, respectively. It is characterized in that the camera is installed to photograph the front and rear that the traveling.

The actuator is installed on the LM guide and the sliding block of the LM guide installed on one surface of the main body, and includes a pneumatic cylinder for generating a driving force to move the upper and lower body portion in the vertical direction, the pneumatic cylinder is compressed The rod is stretched and operated by supplying or discharging air, and the pneumatic cylinder and the rod reciprocate individually or simultaneously in left and right directions, and the push to rotate the wheel link in which the driving wheels are installed on the pneumatic cylinder and the rod, respectively. Characterized in that the bar is installed.

 The driving wheel is rotatably installed around the roller shaft on the wheel link, and one end of the wheel link has a cam follower coupled to a slot hole formed in the push bar, and the wheel link includes the upper or lower upper body portion. It is connected to each of the hinge structure is characterized in that it rotates in the vertical direction by the left and right movement of the push bar.

The pair of driving wheels respectively installed on the upper body portion and the lower body portion may be spaced apart by at least one of a rotation operation of the wheel link and up and down movement of the upper and lower body portions so as to correspond to the inner diameter of the pipe. And it is characterized in that the close contact with the inner wall of the pipe to enable vertical running.

The driving unit includes a driving motor for generating a driving force to rotate the driving wheel by receiving power, a reducer for reducing the rotational speed of the driving motor, and a gear unit for transmitting the driving force output from the reducer to the driving wheel. It is characterized by.

Plates each having a slot for adjusting the pipe inner diameter are installed at both ends of the main body, and a pair of fixing bars disposed at the outside of the plate and the pipe for adjusting the inner diameter of the pipe are respectively disposed at both ends of the upper body and the lower body. By the fixing bolt is fastened, the plate is characterized in that the scale and dimensions are displayed on the one side of the pipe for adjusting the inner diameter of the pipe so as to enable the gap between the upper and lower body parts according to the inner diameter of the pipe.

The pair of fixed bars are provided with a pair of guide bars respectively disposed on both sides of the upper and lower body portions, and the guide bars protect the traveling device when traveling inside the pipe, and the traveling device inside the pipe where the shape is changed. It prevents the phenomenon of pinching, characterized in that used as a handle when moving.

The control terminal calculates the rotational speed of each of the driving wheels by using Equation 2 under the condition of Equation 1 that there is no sliding in the roller axial direction among the speeds of the driving wheel and the pipe internal contact point, and based on the calculated rotational speed Traveling device applied to the pipe non-destructive inspection device, characterized in that for controlling the drive unit to drive the driving wheel.

.............[수학식 1]

............. [Equation 1]

.........[수학식 2]

......... [Equation 2]

는 주행바퀴의 롤러 축 방향의 단위벡터, L_x와 L_z는 각각 주행장치의 중심(O)과 롤러축의 x축과 z축 방향 거리,

,

는 주행장치의 중심(O)에서 병진속도,

,

는 주행장치 본체의 회전속도, φ1 내지 φ4는 각 주행바퀴의 회전속도.Where r is the radius of the wheel

Is the unit vector in the roller axial direction of the driving wheel, L _x and L _z are the center (O) of the traveling device and the x and z-axis distances of the roller shaft,

,

Is the translation speed at the center of the traveling gear,

,

Is the rotational speed of the traveling device body, φ1 to φ4 is the rotational speed of each driving wheel.

As described above, according to the traveling device applied to the pipe non-destructive inspection device according to the present invention, the camera is mounted on the front and rear ends of the main body of the traveling device traveling inside the pipe, and the image taken by the camera is monitored to monitor the inside of the pipe. The effect of visual inspection is obtained.

According to the present invention, the effect of inserting the radiation source container into the main body of the traveling device, attaching the collimator to the front of the main body, and non-destructive inspection of the pipe by the internal source method can be obtained.

Moreover, according to this invention, the effect that a cleaning operation | work inside a piping can be performed by attaching the link | linker which has the gripper which can catch a foreign material in piping inside to a main body is obtained.

In addition, according to the present invention, in the case of the foreign material having a magnetic effect can be obtained by installing a magnet instead of a gripper to perform a cleaning operation.

As a result, the present invention can drive a combination of four driving modes, such as linear driving, rolling, curved driving, and left and right lateral movement, so that most of the pipe-type driving can be performed. The effect is that it can be carried out.

1 is a block diagram of a pipe non-destructive inspection device to which the traveling device according to an embodiment of the present invention is applied,
2 is a perspective view of the pipe non-destructive inspection device shown in FIG.
3 and 4 are respectively a perspective view and a front view with the cover of the traveling device applied to the non-destructive pipe inspection device according to an embodiment of the present invention,
5 is an exploded perspective view of the main body and the upper and lower bodies,
6 is an exploded perspective view of the main body,
7 is a configuration diagram of a traveling device in which work tools necessary for cleaning operations are installed;
8 is a side view of the main body shown in FIG. 5;
9 is an exploded perspective view of the upper body portion,
10 is an exploded perspective view of the driving unit;
11 is a view defining a mecanum wheel related variable,
12 is a view illustrating kinematics for a mecanum wheel that travels inside a pipe;
13 is an operating state diagram showing a state in which the traveling device travels a pipe;
14 and 15 are diagrams illustrating a method of adjusting according to the pipe inner diameter.

Hereinafter, a traveling apparatus applied to a pipe non-destructive inspection apparatus according to a preferred embodiment of the present invention will be described in detail with reference to the accompanying drawings.

Hereinafter, terms indicating directions such as 'left', 'right', 'front', 'backward', 'upward' and 'downward' are defined as indicating respective directions based on the states shown in each drawing. do.

First, referring to Figures 1 and 2 will be described the configuration of the pipe non-destructive inspection device to which the traveling device according to a preferred embodiment of the present invention is applied.

1 is a block diagram of a pipe non-destructive inspection device to which the traveling device is applied according to a preferred embodiment of the present invention, Figure 2 is a perspective view of the pipe non-destructive inspection device shown in FIG.

The pipe non-destructive inspection device includes a radiation source, a radiation source container, a traveling device, a radiation device, a collimator and a shield, and an internal source method for arranging a radiation source inside a pipe and radiating a weld joint of the pipe while traveling inside the pipe. Non-destructive inspection of pipe defects using

In detail, the pipe non-destructive inspection device 10, as shown in Figures 1 and 2, the radiation source container (hereinafter referred to as 'container') 30, the container (where the radiation source 20 is stored therein) The driving device 40 and the radiation source 20 stored in the container 30 are moved to move the 30 to the position to be radiographed in the pipe 11, that is, the weld joint W, and the radiation is extracted. When the imaging is completed, the radiation source device 50 driving the recovery of the radiation source 20 back to the container 30 and the radiation source 20 drawn from the container 30 are fixed and the radiation source ( A collimator 60 that transmits the radiation radiated from 20).

In addition, the pipe non-destructive inspection device 10 may further include a control terminal 70 provided outside the pipe 11 and remotely controlling the driving of each device by a wireless or wired communication method.

Therefore, according to the present invention, the welding joint portion of the pipe 11 may be photographed while traveling inside the pipe 11, and the weld site may be inspected based on the photographed image.

To this end, the welding joint portion of the pipe 11 is provided with a radiation film 12 for taking a photo of the radiation transmitted through the defect of the welding portion during imaging.

Accordingly, the operator can observe the photograph taken on the radiation film 12 to know whether the weld joint (W) defect of the pipe 11 and the size and distribution of the defect.

In addition, a shielding material 13 may be installed at the weld joint W of the pipe 11 to shield the radiation generated inside the pipe 11 from being radiated to the outside during the radiography time and prevent exposure of the worker.

Next, with reference to Figures 1 to 6 will be described in detail the configuration of the traveling device applied to the pipe non-destructive inspection apparatus according to a preferred embodiment of the present invention.

3 and 4 are respectively a perspective view and a front view with the cover of the traveling device applied to the non-destructive pipe inspection device according to an embodiment of the present invention.

5 is an exploded perspective view of the main body and the upper and lower bodies, and FIG. 6 is an exploded perspective view of the main body.

As shown in FIGS. 1 to 5, the traveling device 40 applied to the pipe non-destructive inspection device according to an exemplary embodiment of the present invention is a position at which a non-destructive inspection is to be performed in the pipe 11, that is, a weld joint part. It serves to transport the radiation source 20 and the container 30 and the radiation irradiation device (50).

To this end, the traveling device 40 is for omnidirectional inspection of pipes of various shapes and sizes, such as straight pipes, elbow pipes, tee pipes, reducer pipes, and the like so as to travel inside pipes corresponding to pipes of various shapes and sizes. It includes a driving wheel 44 consisting of four sets of mechanum wheels that can rotate.

Accordingly, the traveling device 44 is provided to be capable of translating forward and backward translations, left and right translations, in-situ rotation, left and right rotations, and the traveling wheels with the running wheels so as to smoothly perform the above-described motions. In close contact.

In detail, the traveling device 40 is movable upward and downward in the upper and lower portions of the main body 41 so that the gap can be adjusted according to the inner diameters of the main body 41 and the pipe 11 forming the skeleton. A driving unit generating driving force to rotate the driving wheel 44 and the driving wheel 44 which are rotatably installed on the upper and lower body parts 42 and 43 and the upper and lower body parts 42 and 43, respectively. 45 and an actuator 46 for generating a driving force to move the upper and lower body parts 42 and 43 in the vertical direction.

5 and 6, the main body 41 may be formed in a rectangular cylindrical shape having a hollow provided with an installation space therein, so as to install the necessary work tool according to the inspection work method.

That is, in the installation space, as shown in FIGS. 1 and 2, the container 30 in which the radiation source 20 is stored may be installed in the non-destructive inspection.

On the other hand, Figure 7 is a block diagram of a traveling device is installed work tools necessary for cleaning work.

As illustrated in FIG. 7, the robot arm 14 and the gripper 15 may be installed in the installation space.

Here, the present invention may be changed to perform a cleaning operation by installing a magnet instead of the gripper 15 when the magnetic substance is foreign matter.

3 to 6, the actuators 46 are installed on one surface of the main body 41 and the front surface of the main body 41, respectively, and the driving motor 451 provided on the driving unit 45 is provided on the rear surface of the main body 41. An electronic part box 411 including a motor controller, an emergency battery, and a control part (not shown) for driving may be installed.

A pair of cameras 47 may be installed at both ends of the electronic device box 411 to photograph the front and the rear of the main body 41 so that the internal situation of the pipe 11 may be monitored from the outside of the pipe. .

Thus, the operator monitors the inside of the pipe 11 through an image displayed on the screen of the control terminal 70, and can remotely control the traveling device.

Here, the camera 47 may be provided as a camera having a pan and tilt function.

On the other hand, in order for the traveling device 40 to perform each motion, the distance between the driving wheels 44 provided on the upper and lower sides is made to match the inner diameter of the pipe 11, and each of the driving wheels 44 is connected to the pipe 11. Should be in close contact with the inner wall of the

In particular, when the traveling device 40 runs vertically, the driving wheel 44 is in close contact with the traveling device 40 due to the weight of the cable and the traveling device 40 due to gravity is essential.

In order to generate such a close force, the actuator 46 is the sliding of the linear motion guide (Linear Guide) 461 and the LM guide 461 that is installed on the front of the main body (41). It may include a pneumatic cylinder 463 installed in the block 462.

Here, the pneumatic cylinder 463 stretches the rod 464 by the supply or discharge operation of the compressed air, and the pneumatic cylinder 463 and the rod 464 can be reciprocated individually or simultaneously in the left and right directions.

The pneumatic cylinder 463 and the rod 464 are each provided with a push bar 466 having a slot hole 465 for guiding the cam followers 442 of the wheel link 441 in which the driving wheel 44 is installed. Can be.

Each wheel link 441 is a portion in which the driving wheel 44 is rotatably installed about the roller shaft 443, and the hinge structure is connected to the upper body portion 42 or the lower body portion 43. The cam follower 442 installed at one end of the link 441 is fitted into the slot hole 465 of the push bar 466.

The wheel link 441 is equipped with a driving wheel 44 provided with a mecanum wheel, and includes a driving motor 451, a speed reducer 452, and a gear unit of the driving unit 45 for driving the mecanum wheel. 453 may be installed (see FIG. 10).

When compressed air is applied to the pneumatic cylinder 463 of the actuator 46 having such a structure, the four running wheels 44 move in the direction in which the inner wall of the pipe 11 is pressed, respectively, and the running wheel 44. Adhesion force is generated while the inner tube 11 is in contact with the inside of the pipe 11.

Accordingly, the present invention can cope with the change in the inner diameter of the pipe by automatically adjusting the interval between the upper and lower running wheels when the inner diameter of the pipe is changed, such as when an error occurs during manufacturing of the pipe or when traveling inside the reducer pipe.

On the other hand, when the change in the inner diameter of the pipe 11 is so large that it cannot be covered by the distance adjustment between the driving wheels using the wheel link 441 structure, the actuator 46 uses the slot 11 for adjusting the inside diameter of the pipe 11. It is possible to adjust the gap between the upper and lower body parts (42, 43).

8 is a side view of the main body shown in FIG. 5.

As shown in FIGS. 5, 6, and 8, plates 412 on which both sides of the main body 41 are formed may be provided with slots 413 for adjusting the pipe diameter.

In addition, fixing bolts 414 may be fastened through the fixing bars 415 and the slots 413 disposed at the outer sides of the plate 412 at both ends of the upper body part 42 and the lower body part 43, respectively. have.

Plate 412 may be displayed on the side of the slot 413, the scale and dimensions so that you can check while adjusting the gap between the upper and lower body portion according to the inner diameter of the pipe (11).

Thus, the operator adjusts the gap between the upper and lower body parts 42 and 43 in a state where the fixing bolt 414 is loosely fastened, and when the gap adjustment is completed, the fixing bolt 414 is completely fastened to the main body 41. The upper and lower body parts 42 and 43 can be fixed stably.

On the other hand, in the present embodiment, the operator directly described as adjusting the gap between the upper body portion and the lower body portion, but the present invention is not necessarily limited to this, so as to automatically adjust by installing an additional actuator, such as a separate pneumatic cylinder It may be changed.

In addition, the pair of fixing bars 415 may be provided with a pair of guide bars 416 disposed on the front and rear sides of the upper and lower body parts 42 and 43, respectively.

The guide bar 416 protects the traveling device 40 when traveling inside the pipe 11 and prevents a phenomenon of being caught in a pipe having a large shape change such as an elbow tube or a tee tube.

The guide bar 416 may also be utilized as a handle when the operator moves the traveling device 40.

Next, with reference to Figures 3, 4 and 9 to 10 will be described in detail the configuration of the upper and lower body portion, the driving wheel and the drive unit.

9 is an exploded perspective view of the upper body portion, Figure 10 is an exploded perspective view of the drive unit.

Hereinafter, since the upper body part 42 and the lower body part 43 are configured to be symmetrical with each other, the driving part 45 and the running wheel 44 of the upper body part 42 and the upper body part 42 are installed. It demonstrates using a structure.

As shown in FIG. 9, the upper body part 42 includes a body 421 formed in a substantially square plate shape, and the body 421 has a pair of wheels on which the driving wheels 44 are rotatably installed. The links 441 may be coupled to each other by a hinge structure that rotates about the hinge axis.

As shown in FIGS. 9 and 10, the wheel link 441 is formed in a substantially '>' or '<' shape when viewed from the front, and a push bar 466 is formed at a lower end of the wheel link 441. The cam follower 442 coupled to the slot hole 465 may protrude forward.

As such, when the push bar 466 moves in the left and right directions while the cam follower 442 is coupled to the slot hole 465, the wheel link 441 rotates about the hinge axis.

Accordingly, the up and down running wheels 44 are moved in the up and down direction, respectively, so that the interval is adjusted to correspond to the inner diameter of the pipe 11, and the adhesion force may be generated on the inner wall surface of the pipe 11.

The driving unit 45 is output from a driving motor 451 generating power to rotate the driving wheel 44 by receiving power, a speed reducer 452 and a speed reducer 452 for reducing the rotational speed of the driving motor 451. It may include a gear unit 453 for transmitting the driving force to the driving wheel 44.

For example, the gear unit 453 may include a first gear 454 installed on the output shaft of the reduction gear 452, a second gear 455 meshing with the first gear 454, and a roller shaft of the driving wheel 44. It may include a third gear 456 installed in 444 and engaged with the second gear 455.

Meanwhile, although the layout and kinematics of the mecanum wheels are well known in relation to the mecanum wheels applied to the traveling device 40 moving in a plane, information about the mecanum wheels moving inside the cylindrical pipe 11 is known. Is hard to find.

Therefore, the present invention will be described an example of the arrangement of the mecanum wheel moving inside the pipe 11 and the kinematic information about it.

FIG. 11 is a view defining variables related to mecanum wheels, and FIG. 12 is a diagram illustrating kinematics (inverse kinematics) for mecanum wheels traveling inside a pipe.

,

)와 본체(41)의 회전속도(

,

)를 구현하기 위한 각 주행바퀴(44)의 필요한 회전속도와 회전방향을 구하고, 이를 제어단말(70)의 제어프로그램에서 각 주행바퀴(44)를 구동하는 주행모터(451)의 지령으로 전달해야 한다.In order for the operator to conveniently operate the traveling device 40, the translation speed (at the center O of the traveling device 40 desired by the worker)

,

) And the rotational speed of the main body 41

,

It is necessary to obtain the required rotational speed and the direction of rotation of each driving wheel 44 to implement), and transmit it to the command of the driving motor 451 driving each driving wheel 44 in the control program of the control terminal 70. do.

는 메카넘 휠의 롤러 축 방향의 단위벡터이다. 11 and 12, r is the radius of the mecanum wheel,

Is the unit vector in the roller axis direction of the mecanum wheel.

Equation 2 below can be derived under the condition of Equation 1 in which there is no sliding in the roller axial direction among the speeds of the contact points between the mecanum wheel and the pipe 11.

[Equation 1]

[Equation 2]

,

는 주행장치의 중심(O)에서 병진속도이며,

,

는 주행장치 본체의 회전속도이고, φ1 내지 φ4는 각 메카넘 휠의 회전속도이다.Here, L _x and L _z are the distance between the center O of the traveling device 40 and the x and z axis directions of the roller shaft 443, respectively.

,

Is the translation speed at the center of the traveling gear,

,

Is the rotational speed of the traveling device main body, and φ1 to φ4 are the rotational speeds of the respective mecanum wheels.

,

)와 본체(41)의 회전속도(

,

)를 우변에 입력하면, 각 주행바퀴(44)의 필요한 회전속도를 구할 수 있다.In Equation 2, the translation speed at the center O of the traveling device 40 desired by the operator (

,

) And the rotational speed of the main body 41

,

) Is inputted to the right side, the required rotational speed of each of the driving wheels 44 can be obtained.

That is, the driving motor 451 of each driving wheel 44 determines the rotational speed and the rotation direction of each of the driving wheels 44 by calculating Equation 2 in the control program of the control terminal 70 connected to the traveling device 40. When the command is transmitted, the operator can implement the desired motion of the traveling device 40.

As described above, the pipes are combined into pipe parts of various shapes and sizes, such as straight pipes, elbow pipes and tee pipes.

Therefore, by utilizing the mecanum wheel arrangement as described above in the present invention can be moved in four driving modes of straight driving, rolling, curved driving, left and right movement described in Table 1.

Table 1 is a driving device speed and driving wheel angular speed table for each driving mode of the traveling device, Figure 13 is an operational state diagram showing a state that the traveling device travels the pipe.

In particular, in the case of the tee tube, the operator can select the desired path to travel.

For example, as shown in FIG. 13, the operator may select whether to go straight through the tee or go to the branched pipe on the left side.

As described above, in the present invention, since the driving wheel 44 is in close contact with the inside of the pipe 11, the driving wheel 44 can travel in the pipe in any posture from horizontal to vertical.

At this time, the operator can adjust the interval between the upper and lower running wheels 44 and the upper and lower body parts 42 and 43 according to the inner diameter of the pipe (11).

For example, FIG.14 and FIG.15 is a figure explaining the adjustment method according to piping internal diameter.

14 (a) to 14 (c) show a state where a part of the traveling device is replaced according to the pipe inner diameter.

15A to 15C illustrate an operation of adjusting the distance between the up and down wheels by rotating the wheel link when it is within a range that can be adjusted by the rotation of the wheel link, for example, 150 mm.

15 (d) to (f) illustrate an operation of adjusting a gap between the upper and lower body parts.

As shown in (a) to (c) of FIG. 14, the operator divides the inner diameter range of the pipe 11 into a plurality of sections, such as φ450, φ600, and φ750, and divides some parts such as a push bar and a plate according to each section. The gap between the upper and lower body parts 42 and 43 can be adjusted.

In addition, when the inner diameter range of the pipe 11 on which the traveling device 40 travels is within an adjustable range of a preset reference inner diameter, for example, φ450, φ600, and φ750, as shown in FIGS. 15A and 15B. Likewise, by rotating the wheel link 441, it is possible to adjust the interval of the up and down running wheel 44.

At this time, the operator moves only one of the pair of push bar 466 in the left and right direction, as shown in Figure 15 (c), the up and down running wheel 44 installed on the left or right of the body 41 You can also adjust the interval.

On the other hand, when the inner diameter range of the pipe 11 exceeds the adjustable range of the reference inner diameter of each pipe described above, the upper and lower body parts 42 and 43 as shown in (d) to (f) of FIG. It is also possible to adjust the interval of the up and down running wheels 44 by moving in the vertical direction.

Therefore, the present invention can be equipped with a camera in the front and rear ends of the main body of the traveling device traveling in the pipe configured as described above, by monitoring the image taken by the camera can visually inspect the inside of the pipe.

In the present invention, the radiation source container is inserted into the main body of the traveling apparatus, and a collimator is mounted in front of the main body so that the pipe can be nondestructively inspected by the internal source method.

In addition, the present invention can be equipped with a link having a gripper for catching the foreign matter inside the pipe to the main body can perform the cleaning work inside the pipe.

In addition, the present invention may be a cleaning operation by installing a magnet in place of the gripper in the case of magnetic foreign matters.

As a result, the present invention can be driven by the combination of the four driving modes described above can be performed in the form of most pipes, it is possible to perform a variety of tasks, such as inspection and cleaning work inside the pipe.

As mentioned above, although the invention made by the present inventor was demonstrated concretely according to the said Example, this invention is not limited to the said Example and can be variously changed in the range which does not deviate from the summary.

The present invention is applied to a traveling device technology applied to the pipe non-destructive inspection device for running the pipe inside the non-destructive inspection and cleaning operations.

10: pipe nondestructive testing device
11: Tubing 12: radiation film
13: shielding material 14: robot arm
15: Gripper
20: radiation source 30: radiation source container
40: traveling device 41: main body
411: full-length box 412: plate
413: slot for adjusting pipe diameter 414: fixing bolt
415: fixed bar 416: guide bar
42, 43: upper and lower body 421: body
44: wheel 441: wheel link
442: cam follower 443: roller shaft
45: drive unit 451: driving motor
452: reducer 453: gear unit
454 to 456: first to third gears
46: actuator 461: LM guide
462: sliding block 463: pneumatic cylinder
464: load 465: slot hole
466: push bar 47: camera
50: radiation device 60: collimator
70: control terminal W: welded joint

Claims (11)

A body forming a skeleton,
Upper and lower body parts that are installed to be movable in the vertical direction on the upper and lower portions of the main body so that the interval can be adjusted according to the inner diameter of the pipe to run,
The driving wheel is provided with a mecanum wheel to enable omni-directional rotation, and rotatably installed in the upper and lower body parts, respectively.
A driving unit generating a driving force to rotate the driving wheels;
Traveling device is applied to the pipe non-destructive testing device, characterized in that for driving the inside of the pipe of various shapes and sizes, including an actuator for generating a driving force to move the upper and lower body portion in the vertical direction. The method of claim 1,
Further comprising a control terminal for remotely controlling the driving of the traveling device,
The control terminal calculates the rotational speed and the rotational direction of each driving wheel for realizing the translational speed and the rotational speed of the main body at the center of the traveling device, and drives each driving wheel based on the calculated rotational speed and the rotational direction. Traveling device applied to the pipe non-destructive inspection device, characterized in that the transmission to the command of the driving motor to. The method according to claim 1 or 2,
The upper and lower body parts are provided in a symmetrical structure with each other,
The main body is formed in a rectangular cylindrical shape having a hollow provided with an installation space therein, so that the necessary work tool can be installed according to the inspection work method,
The installation space is inserted into the container the radiation source is stored inside the inspection operation,
The traveling device applied to the pipe non-destructive inspection device, characterized in that the robot arm and the gripper is installed during the cleaning operation. The method of claim 3,
The actuator is installed on one surface of the main body,
The other side of the main body is provided with an electronics box containing a controller for driving the drive unit and an emergency battery and control parts,
Traveling apparatus applied to the pipe non-destructive inspection device, characterized in that the front and rear ends of the electronic device box, the camera for photographing the front and rear of the main body is installed. The method of claim 3,
The actuator and the LM guide is installed on one side of the main body
Is installed on the sliding block of the LM guide, and comprises a pneumatic cylinder for generating a driving force to move the upper and lower body portion in the vertical direction,
The pneumatic cylinder extends the rod by the supply or discharge operation of compressed air,
The pneumatic cylinder and the rod move in the left and right directions individually or simultaneously,
The pneumatic cylinder and the rod is a driving device applied to the pipe non-destructive inspection device, characterized in that the push bar for rotating the wheel link is installed, respectively, the driving wheel is installed. The method of claim 5,
The driving wheel is rotatably installed around the roller shaft on the wheel link,
One end of the wheel link is provided with a cam follower coupled to the slot hole formed in the push bar,
The wheel link is connected to each of the upper or lower upper body portion hinge structure is applied to the pipe non-destructive inspection device, characterized in that rotated in the vertical direction by the left and right movement of the push bar. The method of claim 6,
A pair of driving wheels respectively installed on the upper body portion and the lower body portion
The interval is adjusted by at least one of the rotational operation of the wheel link and the vertical movement of the upper and lower body portion to correspond to the inner diameter of the pipe, and is in close contact with the inner wall surface of the pipe to enable horizontal and vertical running. Traveling device applied to pipe nondestructive testing device. The method of claim 3, wherein the driving unit
A driving motor which generates a driving force to rotate the driving wheels by receiving power;
A reducer for reducing the rotational speed of the traveling motor;
Traveling device is applied to the pipe non-destructive inspection device, characterized in that it comprises a gear unit for transmitting the driving force output from the reducer to the driving wheel. The method of claim 3,
Both sides of the main body is provided with plates each formed with a slot for adjusting the pipe inner diameter,
Fixing bolts are fastened to both side ends of the upper body portion and the lower body portion through a pair of fixing bars disposed on the outside of the plate and the slot for adjusting the pipe inner diameter, respectively.
The plate is a traveling device applied to the pipe non-destructive testing device, characterized in that the scale and dimensions are displayed, so as to be able to adjust the gap between the upper and lower body portion according to the inner diameter of the pipe on one side of the slot for adjusting the pipe inner diameter. The method of claim 9,
The pair of fixing bars are provided with a pair of guide bars respectively disposed on both sides of the upper and lower body parts,
The guide bar protects the traveling device when traveling inside the pipe, prevents the traveling device from being caught inside the pipe whose shape is changed, and the traveling device applied to the pipe non-destructive inspection device, which is used as a handle when moving. . The method of claim 2,
The control terminal calculates the rotational speed of each of the driving wheels by using Equation 2 under the condition of Equation 1 that there is no sliding in the roller axial direction among the speeds of the driving wheel and the pipe internal contact point, and based on the calculated rotational speed Traveling device applied to the pipe non-destructive inspection device, characterized in that for controlling the drive unit to drive the driving wheel.

............. [Equation 1]

......... [Equation 2]
Where r is the radius of the wheel

Is the unit vector in the roller axial direction of the driving wheel, L _x and L _z are the center (O) of the traveling device and the x and z-axis distances of the roller shaft,

,

Is the translation speed at the center of the traveling gear,

,

Is the rotational speed of the traveling device body, φ1 to φ4 is the rotational speed of each driving wheel.

Images