KR20200022291A - Pipeline driving robot providing constant supporting force - Google Patents

Abstract

The present invention provides a pipe traveling robot providing a constant supporting force as all travel links can be simultaneously expanded or contracted by a hollow pneumatic cylinder. The present invention may include: a body unit having a hollow pipe cross section and having a plurality of long holes on the circumferential surface thereof for wiring processing; an image shooting device coupled to a front end of the body unit; a hollow pneumatic cylinder coupled to a rear end of the body unit; and a plurality of traveling links which are arranged to be spaced away from each other along the circumferential direction of the body unit on the basis of the gap between the image shooting device and the hollow pneumatic cylinder and changes a rotation angle in an expanded status with a large angle or in a narrowed status with a small angle according to pneumatic adjustment with respect to the hollow pneumatic cylinder, so as to exert the supporting force corresponding to the inner diameter of an inspection target.

Description

PIPELINE DRIVING ROBOT PROVIDING CONSTANT SUPPORTING FORCE}

The present invention relates to a pipe running robot that provides a constant bearing force used in ship building.

In general, the chairman of the ship is made in the construction of ships, offshore structures.

The chairman has a hull chair, a cabin chairman, an engine chairman and an electric chairman for each chairman.

In addition, the method of the chairman of the ship has an existing chairman who performs the design work after completion of the hull construction or block mounting, and the preceding chairman means that the design of the chairman should be pulled in advance.

In the preceding chair, the construction of the hull block assembly is carried out in parallel, which corresponds to a kind of or basic plumbing work. Of course, the construction may continue even after the block is mounted and launched.

Piping may refer to a pipe, a tube, a connecting pipe, a curved pipe, or the like, or may refer to a technology of jointly installing a pipe and a device for the purpose of transferring a fluid.

In addition, the preceding chairman may be a key factor in increasing dock turnover, the competitiveness of shipbuilding.

The predecessor is to install all possible equipment before the block painting, such as installing and inspecting pipes, installing steel structures in ships, electrical work, and controlling the operation of mechanical equipment. These may be referred to as piping, iron rig, electric field, instrumentation, respectively.

Pipes such as pipes are similar to vessels of ships, and very strict inspections are performed by robots to prevent foreign substances such as pieces of iron from entering the pipes during the work of the preceding design.

For example, the pipe quality managers for the preceding chairman check the inflow of foreign materials inside the pipe by using the robot after the step-by-step design work is completed so that there is no error in the design quality.

However, the pipe inspection target to be installed on the ship is very large quantities and has various shapes and structures.

In particular, the pipe may have a change in the size of the pipe or pipe connecting member (for example, elbow, T-shaped pipe, short pipe, etc.) along the path of the pipeline, in which case the robot is the internal space of the pipe or pipe connecting member It may not be possible to exert a constant bearing force while driving along the road.

If the robot according to the prior art does not correspond to the geometric shape of the pipe or the pipe connecting member, and does not exhibit a constant support force, it may cause a disadvantage of deterioration of driving performance during driving.

In addition, when the size of the pipe for pipe or pipe connecting member is large enough not to be applicable to the robot, there is a disadvantage that a separate robot having a large or small size to meet the standard.

In addition, the robot of the prior art has a spring structure to support the wall surface of the pipe. Such a spring structure can flexibly respond to changes in the inner diameter of the pipe, but the compression force of the spring becomes smaller or larger in proportion to the change in the inner diameter.

In order to obtain the support force required for the change in the pressing force of the spring, there is an inefficiency that the robot must be set to the spring pressure value at the position where the support force is most needed.

That is, the structure of the robot is inevitably increased due to the high spring pressing force, and may cause a problem of selecting a motor of a larger capacity.

In the case of the pipe provided in the ship, in particular, in most cases, the inner diameter of the pipe is changed from a small pipe to a large pipe, and in this case, the magnitude change of the spring pressing force acting on the robot becomes very large.

That is, the spring crimping force of several times or more at the time of running a normal straight pipe may be needed.

Therefore, the robot of the prior art has a relatively large spring pressure force and a motor of a higher torque to drive the same in consideration of the piping environment, and the configuration of the motor or the control device for the spring pressure force control can be complicated, It is very difficult to have a miniaturized structure.

Therefore, there is an urgent need for development of a light commercial robot technology capable of miniaturizing the structure of the mechanism so that excellent driving performance can be exerted in the internal space of the pipe or the pipe connecting member while generating a constant bearing force corresponding to the piping standard.

In the present invention, all the driving links can be expanded or reduced at the same time by the hollow pneumatic cylinder, and by providing independent driving units for each driving link, the independent driving unit for every driving link even while driving the pipe or pipe connecting member to be inspected SUMMARY OF THE INVENTION An object of the present invention is to provide a pipe running robot that can be in contact with an inner surface of an inspection object such as a pipe to provide a constant bearing force.

Technical problems to be achieved in the present invention are not limited to the above-mentioned technical problems, and other technical problems not mentioned above will be clearly understood by those skilled in the art from the following description. Could be.

In order to solve the above problems, the present invention has a hollow pipe cross section, the body portion having a plurality of long holes on the circumferential surface for the wiring process; An imaging device coupled to the front end of the body portion; A hollow pneumatic cylinder coupled to the rear end of the body portion; And spaced apart along the circumferential direction of the body portion with respect to the imaging device and the hollow pneumatic cylinder, so that the bearing force corresponding to the inner diameter of the inspection object can be exerted according to the pneumatic adjustment to the hollow pneumatic cylinder. It is possible to provide a pipe traveling robot providing a constant support force, including; a plurality of traveling links for changing the rotation angle in an expanded state having an angle or a narrowed state having a small angle.

In addition, the body portion, the front end of the body portion may be coupled to the center coupling hole of the front flange provided in the rear position of the camera of the imaging device.

In addition, a plurality of front hinge support pieces may be formed on a rear surface of the front flange of the image photographing apparatus so as to be spaced apart corresponding to the number of the traveling links along the circumferential direction of the front flange.

In addition, the hollow pneumatic cylinder, the cylinder body having a hollow inner wall coupled to the rear end of the body portion, and a hollow outer wall surrounding the hollow inner wall to be spaced apart from the outer peripheral surface of the hollow inner wall; In order to form a chamber between the hollow inner wall and the hollow outer wall, the rear end of the hollow inner wall and the rear end of the hollow outer wall are formed at the rear of the cylinder body integrally connected to each other, the outer side of the hollow outer wall A rear flange extending along the circumferential direction of the hollow outer wall; A junction box coupled to the rear surface of the rear flange; A supply pipe piped to the rear flange to supply or recover air pressure to the chamber through the junction box; And a plurality of guide bars spaced apart in the circumferential direction of the front flange so as not to overlap the front hinge support piece, and connecting the front flange and the rear flange to each other.

In addition, the hollow pneumatic cylinder may include a cylinder rod reciprocating along the guide bar by pneumatic pressure (where pneumatic pressure includes positive pressure or negative pressure) supplied or recovered to the chamber.

In addition, the cylinder rod of the hollow pneumatic cylinder, a plurality of linear bearing blocks which are respectively fitted to the guide bar to be slidable along the guide bar; A rod plate having the linear bearing block mounted around the through hole for passing the body portion and the hollow inner wall; A plurality of rear hinge support pieces disposed in front of the rod plate with respect to the position between the linear bearing blocks so as to coincide with the arrangement positions of the front hinge support pieces of the front flange; A ring-shaped rod head integrally formed at an edge of the through hole of the rod plate so as to protrude rearward of the rod plate and fitted into the chamber between the hollow inner wall and the hollow outer wall; A first o-ring coupled to an outer o-ring groove on an outer circumferential surface of the ring rod head; And a second O-ring coupled to an inner O-ring groove of an inner circumferential surface of the ring-shaped rod head.

The driving link may include a pair of leg portions rotatably cross-coupled as the scissors structure; And an independent driving unit individually mounted to the leg portion, wherein the front hinge pin provided on the leg portion is coupled to the hinge hole of the front hinge support piece of the front flange, and the rear hinge pin provided on the leg portion is It may be coupled to the hinge hole of the rear hinge support piece of the cylinder rod.

In addition, the leg portion of the running link, the bracket which is the mounting base of the independent drive unit, a plurality of roller support pieces disposed on the side of the bracket to be perpendicular to the bracket and the support for connecting the roller support pieces to each other A first leg frame integrally formed with a first coupling piece protruding upward from the top of the piece; A second leg frame having a lower hole accommodating the first coupling piece of the first leg frame at a lower end thereof and integrally forming a second coupling piece protruding upwardly at the upper end; And a third leg frame having a lower hole for accommodating the second coupling piece of the second leg frame at a lower end and having the front hinge pin or the rear hinge pin at an upper end thereof. In the frame, a pivot or pivot hole for cross coupling of the pair of legs may be disposed.

In addition, the independent drive unit, the drive gear motor is installed in the bracket, disposed in parallel to the outside of the second leg frame; A drive bevel gear coupled to the drive shaft of the drive gear motor; A driven bevel gear meshed with the drive bevel gear and disposed perpendicular to the axial installation direction of the drive bevel gear; A roller shaft which is formed integrally with the driven bevel gear and is rotatably supported by the roller support piece; And a roller coupled to the roller shaft to be rotatably disposed in the groove between the roller support pieces.

According to the pipe traveling robot providing a constant support force according to an embodiment of the present invention, by using a single hollow pneumatic cylinder, a plurality of (eg three) running link at the same time having a large angle or an open state having a small angle By changing the rotation angle of the running link in a narrowed state, there is an advantage that can actively respond to the change in the pipe inner diameter of the inspection object.

In addition, the pipe driving robot providing a constant support force according to an embodiment of the present invention by driving each roller arranged before and after each driving link by the independent drive unit provided for each leg frame of each running link, maximizing driving performance There is an advantage to this.

In addition, the pipe traveling robot providing a constant support force according to an embodiment of the present invention by adjusting the fluid (eg air) pressure in the pneumatic chamber of the hollow pneumatic cylinder, the impact during driving without providing a separate suspension device in the pneumatic chamber It can be attenuated by the fluid pressure of the, there is an effect that can be made stable running.

In addition, the pipe running robot providing a constant support force according to an embodiment of the present invention, while its leg frame is assembling or disassembling each other as three parts or blocks, it can be fixed by a fastening pin, other standards prepared in advance (eg : Parts of relatively long or short length) can be replaced to correspond to the pipe standard, which can be inspected by an imaging device while driving a large diameter pipe or pipe connecting member without a separate robot replacement.

Effects obtained in the present invention are not limited to the above-mentioned effects, and other effects not mentioned above may be clearly understood by those skilled in the art from the following description. will be.

1 is a perspective view of a pipe traveling robot providing a constant support force according to an embodiment of the present invention.
FIG. 2 is an exploded perspective view of a pipe traveling robot providing a constant support force illustrated in FIG. 1.
3 is a side view of the robot shown in FIG. 1.
4 is a front view of the cylinder rod of the hollow pneumatic cylinder shown in FIG.
FIG. 5 is a perspective view seen from the back side of the cylinder rod shown in FIG. 4. FIG.
6 is an exploded perspective view of the driving link illustrated in FIG. 2.
7 is a front view of the robot shown in FIG. 1.
8 and 9 are operation state diagrams showing a cross section taken along the line AA of the robot shown in FIG.

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

The detailed description, which will be given below with reference to the accompanying drawings, is intended to explain exemplary embodiments of the present invention and is not intended to represent the only embodiments in which the present invention may be practiced.

In the drawings, parts irrelevant to the description may be omitted, and the same reference numerals may be used for the same or similar elements throughout the specification.

In addition, in embodiments of the present invention, the wall surface of the inspection object such as a short pipe or a pipe may mean an inner surface formed inside the inspection object.

In the drawings, FIG. 1 is a perspective view of a pipe traveling robot providing a constant support force according to an embodiment of the present invention, FIG. 2 is an exploded perspective view of a pipe traveling robot providing a constant support force shown in FIG. It is a side view of the robot shown in FIG.

1 to 3, the pipe running robot 10 providing a constant supporting force is an internal space of an inspection object, which is a hollow tube member constituting the pipe 1 (see FIG. 8), such as a pipe, a tube, a short pipe, and the like. After being put in, it may be a means for inspecting the inner surface of the inspection object while moving.

To this end, the pipe traveling robot 10 may include a hollow pneumatic cylinder 100, a traveling link 200, the body portion 300 and the image pickup device 400.

The hollow pneumatic cylinder 100 may be a kind of robot 10 mounted pressurizing device for providing a constant bearing force.

The hollow pneumatic cylinder 100 may have a standard that can be mounted on the robot 10, such as an air cylinder, a pneumatic actuator, and the like.

For the hollow pneumatic cylinder 100, the robot 10 is connected to the pneumatic source 13 provided on the outside of the inspection object and the hollow pneumatic cylinder 100, the air line 11 that becomes the flow path of the pneumatic pressure It may include.

Here, the air line 11 provides air to the hollow pneumatic cylinder 100 to adjust the supply pressure of the pneumatic source 13 to the pneumatic pressure for the operation of the hollow pneumatic cylinder 100 to provide, recover, and adjust the pneumatic pressure. A pneumatic control device 12 including an air filter, a pressure valve, a pressure sensor, or the like may be provided.

In addition, the robot 10 may be connected to a wiring and control system (not shown) for remotely controlling the operation control and the image capturing apparatus 400 of the independent driver 220 to be described later.

According to the cylinder rod reciprocating motion of one hollow pneumatic cylinder 100 mounted on the robot 10, the plurality of traveling links 200 all operate at the same time in an expanded state with a large angle or in a narrowed state with a small angle. By being in close contact with and supporting the inner circumferential surface of the pipe 1 which is the inspection object, it is possible to provide the robot 10 with a predetermined supporting force.

Body 300 has a hollow pipe cross section.

The body portion 300 may include a plurality of long holes 310 on the circumferential surface of the body portion 300 so as to penetrate in the wall thickness direction of the body portion 300 for wiring processing.

Here, the long hole 310 is spaced apart along the circumferential direction of the body portion 300, and can lead the wire or wire drawn out from the independent driving unit 220 toward the inner space 301 of the body portion 300. Can play a role.

The image capturing apparatus 400 may be coupled to the front end of the body 300.

That is, the front end of the body 300 may be coupled to the center coupling hole 411 of the front flange 410 provided at the rear position of the camera of the image capturing apparatus 400.

The coupling state between the front end of the body portion 300 and the center coupling hole 411 may be maintained by the fastening of a plurality of bolts disposed around.

Wiring such as a cable extending from the image capturing apparatus 400, which is not shown, may be extended to a control system provided outside the robot 10 using the internal space 301 of the body 300.

The image capturing apparatus 400 may be a photographing means such as a camera or a charge-coupled device (CCD). The image capturing apparatus 400 may include an illumination device disposed around the photographing device, and a photographing device and a lens protecting the illumination.

The hollow pneumatic cylinder 100 may be coupled to the rear end of the body portion 300.

The hollow pneumatic cylinder 100 may be provided with a plurality of lugs 101 for traction, storage, maintenance of the robot 10, and prevention of falling in a vertical pipe.

Each lug 101 is detachably bolted to the rear surface of the rear flange 120 of the hollow pneumatic cylinder 100 and protrudes toward the rear of the robot 10.

A wire or the like may be further coupled to the lug hole of the lug 101 as necessary.

The hollow pneumatic cylinder 100 is combined with the body portion 300 to form the body of the robot 10.

Since the body of the robot 10 has a hollow structure in which the inner space 301 of the body part 300 and the through hole 161 of the cylinder rod 160 of the hollow pneumatic cylinder 100 are connected to each other in space, Therefore, there is an advantage that the wiring process of the independent driving unit 220 and other accessory devices can be easily performed.

The through hole 161 of the cylinder rod 160 penetrates in the extending direction of the robot 10 at the center of the cylinder rod 160.

The traveling links 200 are plural (for example, three), corresponding to or proportional to the number of the traveling links 200 based on the center of the body 300 when the circumferential direction of the body 300 is used. It may be arranged to maintain the separation distance at a predetermined angle (eg, 120 degrees).

The driving link 200 may be disposed between the image capturing apparatus 400 and the hollow pneumatic cylinder 100 when the driving link 200 is based on the length direction of the body 300.

Thus, the driving link 200 is spaced apart along the circumferential direction of the body portion 300.

In addition, the leg portion 210 of the driving link 200 is disposed based on the longitudinal direction or the moving reference line ML of the body portion 300.

For example, when viewed from the front of the robot 10, the rollers 225 at the front and rear positions of the ends of each of the leg portions 210 are arranged to coincide with the movement reference line ML, respectively, and thus the robot 10 ), The roller 225 may minimize the number of times of contact with foreign matter present on the inner circumferential surface or the inner circumferential surface of the pipe to be inspected, and thus, an advantage of stable driving may be generated.

Therefore, the leg portion 210 of the driving link 200 rotates the leg portion 210 during the driving or corresponds to the inner diameter of the inspection object (eg, the pipe 1) in both the driving stop state of the robot 10. It can exert a certain bearing capacity.

The traveling link 200 is a rotation angle (R1, R2) of the leg portion 210 in the expanded state having a large angle or narrowed state having a small angle in accordance with the pneumatic adjustment to the hollow pneumatic cylinder 100 (Fig. 8 and Fig. 9), in spite of the change in the inner diameter of the pipes 1 and 1a, there is an advantage of generating a constant bearing force.

For the driving link 200, the rear surface of the front flange 410 of the image photographing apparatus 400 is arranged to be spaced apart correspondingly or proportionally to the number of the driving links 200 along the circumferential direction of the front flange 410. A plurality of front hinge support pieces 420 may be formed.

4 is a front view of the cylinder rod of the hollow pneumatic cylinder shown in FIG. 2, and FIG. 5 is a perspective view seen from the back side of the cylinder rod shown in FIG.

3 to 5, the hollow pneumatic cylinder 100 is a cylinder body 110, a rear flange 120, a junction box 130, a supply pipe 140 (see parallel with FIG. 8 or 9), a guide bar. 150, the cylinder rod 160, and the stopper 170 may be included.

The cylinder body 110 has a hollow inner wall 111 coupled to the rear end of the body portion 300, a hollow outer wall 112 surrounding the hollow inner wall 111 spaced apart from an outer circumferential surface of the hollow inner wall 111, and hollow Between the inner wall 111 and the hollow outer wall 112 may include a chamber 113 which is a pneumatic action space of the ring-shaped structure.

The rear flange 120 may be integrally formed with the cylinder body 110.

The rear flange 120 integrally connects the rear end of the hollow inner wall 111 and the rear end of the hollow outer wall 112 to form a chamber 113 between the hollow inner wall 111 and the hollow outer wall 112. It is formed at the rear of the cylinder body 100 to connect, and can close or close the rear of the chamber 113.

Here, the front of the chamber 113 is open before the assembly of the robot 10, but after the assembly of the robot 10 may be closed to the cylinder rod 160.

In addition, the rear flange 120 may extend along the circumferential direction of the hollow outer wall 112 while protruding to the outside of the hollow outer wall 112 corresponding to the radial direction of the cylinder body 100.

In addition, the rear flange 120 may be the support base of the lug 101 and the guide bar 150.

The junction box 130 may be coupled to the rear surface of the rear flange 120.

In the junction box 130, the aforementioned wiring-related connector, cable, or supply pipe 140 may be disposed.

As shown in FIG. 8 or 9, the supply pipe 140 is connected to the air line 11 to supply air pressure to the chamber 113 of the cylinder body 110, or collect or discharge the air pressure of the chamber 113. Can play the role of

To this end, the supply pipe 140 may be piped to the rear flange 120 so as to supply or recover pneumatic pressure to the chamber 113 through the junction box 130.

The guide bar 150 serves to guide the precision reciprocation of the cylinder rod 160.

That is, the plurality of guide bars 150 are spaced apart along the circumferential direction of the front flange 410 so as not to overlap the front hinge support piece 420 as a plurality, and the front flange 410 and the hollow pneumatic pressure of the imaging device 400. The rear flange 120 of the cylinder 100 may serve to connect each other.

Here, the guide bar 150 has an advantage of relatively reducing the weight of the robot 10 as a hollow shaft member.

In addition, one end and the other end of the guide bar 150 has an advantage that can be easily assembled or disassembled in the front flange 410 or the rear flange 120, respectively through the fastening or separation of the bolt.

In addition, the guide bar 150 may be a structural member of the robot 10 directly supporting the image capturing apparatus 400, thereby increasing the structural strength of the robot 10, and applying a load that can be transmitted to the image capturing apparatus 400. As a result, it is possible to exert an advantage that stable imaging can be performed in the image capturing apparatus 400 as a result.

The cylinder rod 160 may be a pressurizing actuating means capable of unfolding or pinching the traveling link 200 both and simultaneously by its reciprocating motion.

The principle of operation of the cylinder rod 160 itself may be like a series of actuators or linear pressurization devices.

The cylinder rod 160 receives the force necessary for the reciprocating motion by the pneumatic pressure (where the pneumatic pressure includes a positive pressure or a negative pressure) supplied or recovered to the chamber 113 of the cylinder body 110 mentioned above, and then the guide bar. It may be configured to reciprocate along 150.

For example, the cylinder rod 160 may include a plurality of linear bearing blocks 162 fitted to the guide bars 150 to be slidable along the respective guide bars 150.

The outer circumferential surface of the guide bar 150 may be subjected to precision surface processing such that the guide bar 150 may have minimal friction with respect to the inner circumferential surface of the insertion hole of the linear bearing block 162.

In addition, the cylinder rod 160 includes a rod plate 163 integrally formed at the front thereof.

For example, the rod plate 163 is formed with a through hole 161 of the cylinder rod 160 for passing the body portion 300 and the hollow inner wall 111 of the cylinder body 110 at the center of the rod plate 163. It may be.

The rod plate 163 may have a shape that does not cause interference with the rotation of the leg portion 210 of the driving link 200.

For the anti-interference shape, for example, the rod plate 163 is a hexagonal plate member, the portion of the rod plate 163 facing the leg portion 210 is formed of a straight long side, the linear bearing block 162 is mounted The portion of the rod plate 163 may be formed in a curved short side.

The rod plate 163 is mounted with a plurality of linear bearing blocks 162 spaced apart along the circumferential direction of the through hole 161 around the through hole 161.

The cylinder rod 160 may include a plurality of rear hinge support pieces 164 disposed in front of the rod plate 163 based on the positions between the linear bearing blocks 162.

Each rear hinge support piece 164 may form a pair to serve as a hinge of the driving link 200.

An arrangement interval of each rear hinge support piece 164 may correspond to an arrangement reference line DL at a corresponding placement position based on the center line CL of the cylinder rod 160.

This placement reference line DL of each rear hinge support piece 164 may coincide with the placement position of the front hinge support piece 420 of the front flange 410 of the imaging device 400 mentioned above.

Accordingly, the leg portion 210 of the driving link 200 may be hinged to the rear hinge support piece 164 and the front hinge support piece 420 where the arrangement positions are matched with each other.

At this time, the leg portion 210 of the driving link 200 may be placed on the above-described moving reference line ML (see FIG. 1), and as a result, the driving direction and the driving link 200 of the plurality of driving links 200. Rotational direction of the leg portion 210 of the () is the same, the running performance of the robot 10 can be maximized, and the rotation angle (R1, R2) of the leg portion 210 even during the driving of the robot 10 There is an advantage that can be changed smoothly.

On the other hand, the cylinder rod 160 includes a ring-shaped rod head 165 protruding to the rear of the rod plate 163 at a right angle with respect to the extending direction of the rod plate 163.

The ring rod head 165 is integrally formed at the edge of the through hole 161 of the rod plate 163.

On the outer circumferential surface of the ring-shaped rod head 165, an outer o-ring groove 166 is formed on the outer end of the rod plate 163, and an inner o-ring groove 167 is formed on the inner circumferential surface of the ring-shaped rod head 165. It may be formed.

The ring rod head 165 may be fitted into a chamber 113 provided between the hollow inner wall 111 and the hollow outer wall 112 of the cylinder body 110.

The first o-ring 168 (see FIG. 8) may be coupled to the outer o-ring groove 166 of the outer circumferential surface of the ring-shaped rod head 165.

The first O-ring 168 is slidably in close contact with the inner circumferential surface of the hollow outer wall 112 to prevent the pressure loss.

The second o-ring 169 (see FIG. 8) may be coupled to the inner o-ring groove 167 of the inner circumferential surface of the ring-shaped rod head 165.

The second O-ring 169 is slidably in close contact with the outer circumferential surface of the hollow inner wall 111 and has an advantage of preventing pressure loss.

The stopper 170 shown in FIG. 3 or FIG. 8 is fitted to the guide bar 150 and then fixed to the guide bar 150 using the corresponding installation bolts, and the cylinder rod 160 within the stroke range of the cylinder rod 160. It can serve as a stop jaw for).

The stopper 170 serves to prevent the cylinder rod 160 from being completely separated from the chamber 113 and has an advantage of preventing excessive rotation of the leg portion 210 of the driving link 200.

6 is an exploded perspective view of the driving link shown in FIG. 2, and FIG. 7 is a front view of the robot shown in FIG. 1.

6 and 7, each of the driving links 200 may include a pair of leg portions 210 rotatably cross-coupled as a scissor structure.

In addition, the driving link 200 may include independent driving units 220 mounted on the leg 210, respectively.

6 and 8, the front hinge pin 201 provided in the leg 210 may be coupled to the hinge hole of the front hinge support piece 420 of the front flange 410.

In addition, the rear hinge pin 202 provided in the leg portion 210 may be coupled to the hinge hole of the rear hinge support piece 164 of the rod plate 163 of the cylinder rod 160.

Each leg portion 210 of the running link 200 can be extended or shortened by disassembly and assembly, and thus has structural features corresponding to various pipe diameters.

For example, the leg part 210 may include a first leg frame 211, a second leg frame 212, a third leg frame 213, and a fastening pin 214.

The first leg frame 211, the second leg frame 212 and the third leg frame 213 is a block assembly for disassembly assembly that can be connected in sequence or coupled as stacked along the extension direction of the leg portion 210 It can have

The fastening pins 214 may be coupled in a direction perpendicular to the extending direction of the leg portion 210.

The fastening pins 214 fix the first leg frame 211 and the second leg frame 212 coupled to each other, or fix the second leg frame 212 and the third leg frame 213 coupled to each other. Can play a role.

The first leg frame 211 is a bracket 211a, which is a mounting base of the independent driving unit 220, and a plurality of roller support pieces 211b disposed on the side of the bracket 211a so as to form a right angle with the bracket 211a. ) May be included.

In addition, the first leg frame 211 may be integrally formed with the first coupling piece 211c protruding upward from the upper portion of the support piece connecting the roller support pieces 211b to each other.

Here, a pin hole 211d may be formed in the first coupling piece 211c to couple the fastening pin 214.

When the second leg frame 212 is assembled with the first leg frame 211, a lower hole 212a for receiving the first coupling piece 211c of the first leg frame 211 may be formed at the bottom thereof. have.

In addition, the second leg frame 212 may be integrally formed with a second coupling piece 212b protruding upward from the upper end of the second leg frame 212 to be assembled to the third leg frame 213. Can be.

The second leg frame 212 may be provided with a fastening hole 212c for coupling the fastening pins 214 to the pin holes 211d of the first coupling piece 211c described above.

In addition, an access hole 212d for wiring processing may be formed in the second leg frame 212.

The second leg frame 212 may be manufactured in plural numbers to adjust the length of the leg portion 210 corresponding to the pipe diameter.

For example, the second leg frame 212e of another standard indicated by a dotted line may have a longer length than the second leg frame 212.

When the second leg frame 212e indicated by the dotted line is coupled between the first leg frame 211 and the third leg frame 213, the length of the leg portion 210 may be increased, and the large diameter thereof is increased. The robot 10 of the present embodiment can be easily applied to the piping.

In the same manner, a pin hole 212f may be formed in the second coupling piece 212b of the second leg frame 212 to couple the fastening pin 214 to each other.

The third leg frame 213 forms a lower hole 213a at the lower end for accommodating the second coupling pieces 212b of the second leg frames 212 and 212e, and is forward at the upper end of the third leg frame 213. It may be provided with a hinge pin 201 or a rear hinge pin (202).

Fastening holes 213b for coupling the fastening pins 214 to the third leg frames 213 respectively corresponding to the pin holes 212f of the second coupling pieces 212b of the second leg frames 212 and 212e. This may also be formed.

In addition, a pivot 215 or a pivot hole 216 for cross coupling of the pair of leg portions 210 may be disposed in the third leg frame 213.

The fastening pins 214 may be quick couplers.

The fastening pins 214 may include a plurality of fastening holes 212c and 213b provided at frame connection points (for example, portions where the coupling pieces 211c and 212b are inserted into the lower holes 212a and 213a, respectively). And pin holes 211d and 212f, respectively.

The fastening pins 214 may be a quick coupler of a protrusion type, in which protrusions opposite the button are pushed out by a button, or pin fixing means such as an interference fit or screw coupling type coupling pin, and the like. Can be.

Referring to FIG. 7, the independent driving unit 220 of each driving link 200 is installed in the bracket 211a of the first leg frame 211 and disposed in parallel to the outside of the second leg frame 212. It may include a drive gear motor 221.

The independent driving unit 220 may include a driving bevel gear 222 coupled to the driving shaft of the driving gear motor 221.

The independent driving unit 220 may include a driven bevel gear 223 engaged with the driving bevel gear 222.

Here, the driven bevel gear 223 may be disposed perpendicular to the axial installation direction of the driving bevel gear 222.

The independent driving unit 220 may include a roller shaft 224 formed integrally with the driven bevel gear 223 and rotatably supported by the roller support piece 211b.

In addition, the independent driving unit 220 may include a roller 225 coupled to the roller shaft 224 to be rotatably arranged in the groove between the roller support pieces 211b.

In this case, the rollers 225 are each positioned at the above-described arrangement reference line DL, so that the hollow pneumatic cylinders are miniaturized without requiring a separate suspension, a complicated linking device, or a high spring force of the spring device as in the conventional technique. Only the 100 and the traveling link 200 can exert an effect of exerting a uniform bearing force on the pipe 1.

The roller 225 may be driven on the inner circumferential surface of the pipe 1 by using the rotational force of the drive gear motor 221 to move the robot 10.

8 and 9 are operation state diagrams showing a cross section taken along line A-A of the robot shown in FIG.

Referring to FIG. 8, a positive pressure may be applied to the chamber 113 of the cylinder body 110.

The cylinder rod 160 of the hollow pneumatic cylinder 100 may be advanced M1 toward the image capturing apparatus 400 by receiving a positive pressure.

As a result, the rotation angle R1 of the traveling link 200 may be narrowed in the pipe 1 having a relatively large pipe diameter.

In this case, the leg portion 210 of the running link 200 may be in a state in which it is sharply inclined with respect to the inner circumferential surface of the pipe 1.

Therefore, the robot 10 can run while exhibiting a stable supporting force even in the piping 1 with a relatively large pipe diameter.

Referring to FIG. 9, in the case of a pipe 1a having a relatively small pipe diameter, a negative pressure may be applied to the chamber 113 of the cylinder body 110.

The cylinder rod 160 of the hollow pneumatic cylinder 100 may be returned to the reverse side M2, that is, toward the chamber 113 of the cylinder body 110, on the opposite side of the imaging apparatus 400.

Accordingly, the rotation angle R2 of the driving link 200 can be widened.

In this case, the leg portion 210 of the running link 200 may be in a state of being gently inclined with respect to the inner peripheral surface of the pipe (1a).

As a result, the robot 10 can also run while exhibiting a stable supporting force even in a pipe 1a having a relatively small pipe diameter.

As such, the robot according to the present embodiment can simultaneously expand or reduce three traveling links by using one hollow pneumatic cylinder, and can easily cope with a change in pipe diameter by adjusting the pneumatic pressure of the hollow pneumatic cylinder at a long distance. There is an advantage that can always apply a constant bearing capacity.

In addition, the robot according to the present embodiment has a hollow structure in which both the hollow pneumatic cylinder and the body portion have a hollow structure, and thus, there is an advantage in that wiring of various wirings, cables, and other accessories related to the robot can be easily performed.

In addition, the robot according to the present embodiment is not only the legs of the running link is rotated by the scissors structure, but also the legs themselves are configured to be disassembled into a plurality of leg frames, the length of the legs can be expanded or reduced, The result is an advantage that can be used for various pipe diameters.

The embodiments of the present invention disclosed in the specification and the drawings are only specific examples to easily explain the technical contents of the present invention and aid the understanding of the present invention, and are not intended to limit the scope of the present invention.

Therefore, the scope of the present invention should be construed that all changes or modifications derived based on the technical idea of the present invention are included in the scope of the present invention in addition to the embodiments disclosed herein.

10: robot 100: hollow pneumatic cylinder
110: cylinder body 120: rear flange
130: junction box 140: supply pipe
150: guide bar 160: cylinder rod
170: stopper 200: driving link
300: body 400: video recording device

Claims (9)

A body portion having a hollow pipe cross section and having a plurality of long holes on a circumferential surface for wiring processing;
An imaging device coupled to the front end of the body portion;
A hollow pneumatic cylinder coupled to the rear end of the body portion; And
A large angle according to the pneumatic adjustment to the hollow pneumatic cylinder so as to be spaced apart along the circumferential direction of the body portion relative to the image pickup device and the hollow pneumatic cylinder, so that the bearing force corresponding to the inner diameter of the inspection object can be exerted. And a plurality of traveling links which change the rotation angle in an expanded state having a narrow state or a narrowed state having a small angle. The method of claim 1,
The body portion,
And a front driving end of the body portion coupled to the center coupling hole of the front flange provided at the rear position of the camera of the image photographing apparatus. The method of claim 2,
On the back of the front flange of the video image pickup device,
And a plurality of front hinge support pieces are provided so as to be spaced apart to correspond to the number of the traveling links along the circumferential direction of the front flange. The method of claim 3, wherein
The hollow pneumatic cylinder,
A cylinder body having a hollow inner wall coupled to the rear end of the body portion and a hollow outer wall surrounding the hollow inner wall to be spaced apart from an outer circumferential surface of the hollow inner wall;
In order to form a chamber between the hollow inner wall and the hollow outer wall, the rear end of the hollow inner wall and the rear end of the hollow outer wall are formed at the rear of the cylinder body integrally connected to each other, the outer side of the hollow outer wall A rear flange extending along the circumferential direction of the hollow outer wall;
A junction box coupled to the rear surface of the rear flange;
A supply pipe piped to the rear flange to supply or recover air pressure to the chamber through the junction box; And
And a plurality of guide bars spaced apart along the circumferential direction of the front flange so as not to overlap the front hinge support piece, and connecting the front flange and the rear flange to each other. The method of claim 4, wherein
The hollow pneumatic cylinder,
And a cylinder rod reciprocated along the guide bar by pneumatic pressure (where pneumatic pressure includes positive pressure or negative pressure) supplied to or recovered from the chamber. The method of claim 5, wherein
The cylinder rod of the hollow pneumatic cylinder,
A plurality of linear bearing blocks respectively fitted to the guide bars to be slidable along the guide bars;
A rod plate having the linear bearing block mounted around the through hole for passing the body portion and the hollow inner wall;
A plurality of rear hinge support pieces disposed on the front of the rod plate with respect to the position between the linear bearing blocks so as to coincide with the arrangement positions of the front hinge support pieces of the front flange;
A ring-shaped rod head which is integrally formed at an edge of the through hole of the rod plate so as to protrude to the rear of the rod plate and fitted into the chamber between the hollow inner wall and the hollow outer wall;
A first o-ring coupled to an outer o-ring groove on an outer circumferential surface of the ring rod head; And
And a second O-ring coupled to the inner O-ring groove of the inner circumferential surface of the ring-shaped rod head. The method of claim 6,
The driving link,
A pair of leg portions rotatably cross-coupled as the scissors structure; And
Includes; each independent drive unit mounted on the leg portion, respectively,
The front hinge pin provided in the leg portion is coupled to the hinge hole of the front hinge support piece of the front flange,
And a rear hinge pin provided at the leg portion to provide a constant support force coupled to the hinge hole of the rear hinge support piece of the cylinder rod. The method of claim 7, wherein
The leg of the running link,
A bracket which serves as a mounting base of the independent driving unit, a plurality of roller support pieces disposed on the side of the bracket to form a right angle with respect to the bracket, and a first projecting upward from an upper portion of the support piece connecting the roller support pieces to each other; A first leg frame formed integrally with the joining piece;
A second leg frame having a lower hole accommodating the first coupling piece of the first leg frame at a lower end thereof and integrally forming a second coupling piece protruding upward from the upper end; And
And a third leg frame having a lower hole for accommodating the second coupling piece of the second leg frame at a lower end and having the front hinge pin or the rear hinge pin at an upper end thereof.
The third leg frame is a pipe running robot that provides a constant support force is arranged a pivot or pivot hole for cross coupling of the pair of legs. The method of claim 8,
The independent drive unit,
A drive gear motor installed on the bracket and disposed in parallel to the outside of the second leg frame;
A drive bevel gear coupled to the drive shaft of the drive gear motor;
A driven bevel gear meshed with the drive bevel gear and disposed perpendicular to the axial installation direction of the drive bevel gear;
A roller shaft which is formed integrally with the driven bevel gear and is rotatably supported by the roller support piece; And
And a roller coupled to the roller shaft such that the roller is rotatably disposed in the groove between the roller support pieces.

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