KR20200123360A - Robot system for inspecting inside pipe - Google Patents

Abstract

An in-pipe inspection robot system according to the present invention comprises: a sensor unit sensing whether a defect exists within a pipe or a state within the pipe; a sensor driving unit connected to the sensor unit and rotating the sensor unit along the inner surface within the pipe; and a driving unit connected to the sensor driving unit to move the sensor unit and the sensor driving unit within the pipe, wherein the driving unit is arranged to be extended or reduced in the diameter direction within the pipe and thus, can move within the pipe in a state of being in contact with the inner surface within the pipe. Accordingly, it is possible to increase reliability of the results of inspection using the in-pipe inspection robot.

Description

In-house inspection robot system {ROBOT SYSTEM FOR INSPECTING INSIDE PIPE}

The present invention relates to an intra-pipe inspection robot system, and more particularly, an intra-pipe inspection robot system for inspecting and measuring defects or conditions in the pipe of the tubular member by irradiating a laser on the inner surface of a tubular member such as a military barrel, pipe, or industrial metal pipe. It is about.

As for pipes, city gas pipes, water and sewage pipes, petrochemical plant pipes, and steam pipes used in cogeneration power plants are closely related to our daily lives and are widely used in general. These various types of pipes are cracked or corroded by the passage of time or by vibration or impact applied from the outside.

In this way, when a pipe is damaged by cracking or corrosion, it may cause a number of loss of life and property and destruction of the natural environment.

In addition, if the barrel used for military weapons is damaged, a large explosion accident may occur due to the shell, so it is necessary to inspect or diagnose the inner state of the barrel according to an appropriate period to ensure the safety of the barrel.

On the other hand, if the diameter of the tubular member or barrel is large, the operator can directly enter the pipe to check the presence or absence of defects or the current state, but if the diameter of the tubular member or barrel is small, the operator cannot enter and exit There is a problem that is difficult to maintain.

In order to solve the above problems, in recent years, many intra-pipe inspection robots that move along the inner surface of a tubular member or barrel and inspect and measure the inside of the pipe have been developed and used.

The inspection robot in the tube can be classified into a walking type, a wheel type, a caterpillar type and a telescopic type, depending on the movement method.

However, the walking-type in-pipe inspection robot has a problem of very poor practicality, and the wheel-type in-pipe inspection robot is capable of very efficient movement in a straight pipe, but it is difficult to move in a vertical pipe or a curved pipe.

In addition, the caterpillar type in-pipe inspection robot requires a lot of energy when traveling and has a problem of getting foreign substances on the track, and the telescopic type in-pipe inspection robot can be moved in vertical and curved pipes by applying to the diameter change in the pipe. However, there is a problem in that a complex mechanism must be implemented in order to compress the inner surface of the tube.

In addition, since the conventional intra-tube inspection robot has a limited diameter inside the tube that can be inspected or measured, when the inner diameter of the tube is changed, there is an inconvenience of using a new structure or size of the tube inspection robot corresponding to the changed diameter.

In addition, since conventional in-pipe inspection robots are not in close contact with the inner surface of the pipe, it is very unstable for the in-pipe inspection robot to travel inside the pipe, and in the case of a pipe that has been used for a long time, the inner surface of the pipe is uneven. There is a problem in that the reliability of the test result in the tube measured using the tube inspection robot is deteriorated because the in-pipe inspection robot itself may be shaken.

Accordingly, the present applicant has proposed the present invention in order to solve the above problems, and as a related prior art document, Korean Patent Publication No. 10-1945508 (name of the invention: pipe internal inspection apparatus using a laser, Registration date: 2019.01.29.)

An object of the present invention is to provide an in-pipe inspection robot system capable of inspecting the inside of a pipe having various diameters.

In addition, it is an object of the present invention to provide an in-pipe inspection robot system capable of inspecting the inside of a tube while a tube inspection robot stably travels inside the tube regardless of the presence or absence of defects in the tube.

In addition, an object of the present invention is to provide an in-pipe inspection robot system capable of analyzing the defect size, defect location or depth more accurately by scanning the inside surface using a laser in a state as close as possible to the inner surface of a tubular member such as a barrel. To provide.

The problem to be solved by the present invention is not limited to the problems mentioned above, and other problems that are not mentioned will be clearly understood by those skilled in the art from the following description.

The above object is, according to the present invention, a sensor unit for detecting the presence or absence of a defect in the tube; A sensor driving unit connected to the sensor unit and rotating the sensor unit along an inner surface of the tube; And a traveling unit connected to the sensor driving unit to move the sensor unit and the sensor driving unit in the tube. Including, the traveling unit may be provided to be expandable or contracted in the radial direction of the pipe, and can be achieved by an in-pipe inspection robot system that moves the pipe in a state in contact with the inner surface of the pipe.

The sensor driving unit may include a driving body to which the sensor unit is coupled; A guide wheel detachably provided on the drive body along the longitudinal direction of the drive body and contacting the inner surface of the tube; And a tension member provided between the driving body and the guide wheel and elastically supporting the guide wheel against the inner surface of the tube. It may include.

The guide wheel may be provided to be replaceable according to the diameter of the tube.

The traveling unit may include a traveling body to which the sensor drive unit is connected; A traveling unit connected to the traveling body to move the sensor unit and the sensor driving unit along an inner surface of the tube; And a variable connection part connecting the driving body and the driving part to expand or contract the driving part according to the size of the inner diameter of the pipe. Including, the driving unit may be provided in two or more radially spaced apart at the same distance or angle with respect to the longitudinal center of the driving unit or the driving body.

The variable connection unit includes: a first link member connecting the traveling body and the traveling unit at both ends of the traveling body in the width direction; A second link member connected to the driving unit so as to connect the driving body and the driving unit at both ends of the driving body in the width direction, and have the same rotation center as the rotation center of the driving unit and the first link member; And a third link member connected to the traveling body and the traveling part at both ends of the traveling body in the width direction, and spaced apart from the second link member along the length direction of the traveling body. It may include.

The first link member, the second link member, and the third link member are formed to have the same length, and the second link member and the third link member are provided parallel to each other, and connected to the traveling body. One end of the first link member may be rotatably connected to the traveling body so that the position can be changed along the length direction of the traveling body.

The variable connection portion is provided inside the traveling body, the support block provided at one end in the longitudinal direction of the traveling body so as to be adjacent to the sensor driving unit; A pair of guide rods connected to both sides of the support block in the width direction and provided in parallel with the length direction of the traveling body; And a guide block passing through the pair of guide rods so as to slide along the pair of guide rods, and having both ends rotatably connected to one end of a first link member located inside the traveling body. It may include.

When the guide block advances in one direction along the guide rod, the driving unit extends in a direction away from the driving body, and when the guide block retreats in one direction along the guide rod, the driving unit becomes closer to the driving body. Can be reduced in any direction.

A position fixing block into which both ends of the guide block are inserted may be provided on an inner surface of the traveling body in the width direction, and at least one step adjustment part into which both ends of the guide block are inserted may be formed in the position fixing block.

The position fixing block may include a first position fixing block provided to be adjacent to the support block; And a second position fixing block provided to be spaced apart from the first position fixing block along the longitudinal direction of the traveling body. Including, the first position fixing block may be formed with a plurality of the step adjustment portion, the second position fixing block may be formed with at least one step adjustment portion.

Both ends of the guide block may be inserted into one of the step adjustment units formed in the first position fixing block or the second position fixing block, so that the driving unit may be expanded or contracted with respect to the driving body.

The driving unit may include a pair of driving frames that are elongated along the length direction of the driving body; A driving pulley and a driven pulley provided between the pair of driving frames to be located at both ends of the driving frame in the longitudinal direction; A traveling motor provided between the pair of traveling frames and providing a driving force to the drive pulley; And an encoder module measuring the rotation amount or rotation speed of the driving pulley or the driven pulley. It may include.

The sensor unit includes a casing provided on one side of the driving body and coupled to a mounting flange rotated by a rotation motor of the sensor driving unit; And a laser sensor module provided inside the casing. Including, the sensor unit may be coupled to the mounting flange so that the laser sensor module is close to the inner surface of the tube.

The sensor unit may include a casing coupled to a mounting flange rotated by a rotation motor of the sensor driving unit; A laser sensor module provided inside the casing to sense a state in the tube; And a sensor support part for suppressing vibration generated when the laser sensor module rotates or supporting the laser sensor module with respect to the inner surface of the tube. It may include.

The sensor support includes a base coupled to the casing; A support member disposed in a direction perpendicular to the base; And a tension wheel provided at an end of the support member and being in contact with the inner surface of the tube to elastically support the laser sensor module with respect to the inner surface of the tube. It may include.

The sensor unit may be provided to enable change or adjustment of a position mounted on the mounting flange.

The sensor unit may include a counter balancer mounted on the mounting flange to suppress vibration generated during high-speed rotation.

When entering the tube, the driving unit inspects the inside of the tube while inspecting the inside of the tube while traveling relatively quickly in a rough mode, and when exiting from the inside of the tube, based on the databased information, the portion inside the tube with defects is In fine mode, you can perform detailed inspection while driving relatively slowly.

In the in-pipe inspection robot system of the present invention, since the traveling unit of the in-pipe inspection robot system is provided to be able to expand or contract in the radial direction of the pipe according to the diameter of the pipe, even one in-pipe inspection robot can respond to the diameter of various sizes of the pipe. It can measure the presence or condition of defects in the pipe.

In addition, when the in-pipe inspection robot system of the present invention is applied to a military barrel, the inside of the barrel having various inner diameters such as 90mm, 105mm, 120mm, 155mm, etc.can be automatically inspected and the state of the barrel can be converted into a digital DB and managed.

In addition, the in-pipe inspection robot system of the present invention can improve the reliability of inspection results using the in-pipe inspection robot by moving the inside of the tube in contact with the inner surface of the tube.

In addition, the intra-tubular inspection robot system of the present invention scans the laser in a state as close as possible to the inner surface of the tubular member or the barrel to inspect the inner surface of the defect, so that the size, location, or depth of the defect can be analyzed more accurately and precisely. Can be checked.

In addition, the in-pipe inspection robot system of the present invention makes a database of the presence or absence of defects while driving quickly when entering the tube, and when entering from the inside of the tube, based on the database-generated information, it slowly travels and inspects in detail at the defective part. It is possible to shorten the inspection time while quickly inspecting the missing part, and to perform detailed inspection on the defective part.

1 is a perspective view of an intraluminal inspection robot system according to an embodiment of the present invention.
2 is an exploded perspective view of the in-pipe inspection robot system shown in FIG. 1.
3 is a diagram showing a detailed configuration of the sensor unit shown in FIG. 2.
4 to 8 are views for explaining an in-pipe inspection robot according to the operation of the traveling unit shown in FIG. 2.
9 is a partial perspective view showing to explain the position fixing block shown in FIGS. 4 to 8.
10 is a partial perspective view illustrating the driving unit shown in FIGS. 4 to 8.
11 is a perspective view of an intraluminal inspection robot system according to another embodiment of the present invention.

Hereinafter, embodiments of the present invention will be described in detail with reference to the accompanying drawings so that those of ordinary skill in the art may easily implement the present invention. The present invention may be implemented in various different forms and is not limited to the embodiments described herein.

Note that the drawings are schematic and have not been drawn to scale. Relative dimensions and ratios of parts in the drawings are exaggerated or reduced in size for clarity and convenience in the drawings, and any dimensions are illustrative only and not limiting. In addition, the same reference numerals are used to indicate similar features to the same structure, element or part appearing in two or more drawings.

Examples of the present invention specifically represent ideal embodiments of the present invention. As a result, various modifications of the drawings are expected. Accordingly, the embodiment is not limited to a specific shape in the illustrated area, and includes, for example, a modification of the shape by manufacturing.

Hereinafter, the intraluminal inspection robot systems 1000 and 2000 according to embodiments of the present invention will be described with reference to the accompanying drawings.

In-pipe inspection robot systems 1000 and 2000 according to the present invention include industrial metal pipes such as city gas pipes, water and sewage pipes, petrochemical plant pipes, steam pipes used in cogeneration power plants, military barrels or pipes, etc. In the case, it is inserted into the interior of the tube and moves along the inner surface of the tube to detect the presence or absence of a defect in the tube 10.

In addition, the intra-pipe inspection robot system (1000, 2000) is not limited to a tube having a cylindrical longitudinal section, but is inserted into various types of tubes such as oval or polygonal shapes, so that the current in-pipe such as the presence of defects, defects, or wear conditions in the tube 10 You can detect and check the status of (10).

First, with reference to FIGS. 1 to 14, an in-pipe inspection robot system 1000 according to an embodiment of the present invention will be described.

1 is a perspective view of an intra-pipe inspection robot system 1000 according to an embodiment of the present invention, FIG. 2 is an exploded perspective view of the intra-pipe inspection robot system 1000 shown in FIG. 1, and FIG. 3 is a sensor unit shown in FIG. A diagram showing a detailed configuration of 100, FIGS. 4 to 8 are views for explaining the in-pipe inspection robot system 1000 according to the operation of the traveling unit 300 shown in FIG. 2, and FIGS. 4 to 8 A partial perspective view showing to describe the positioning blocks 336 and 337 shown in FIG. 8 and FIG. 10 are partial perspective views showing to explain the driving unit 320 shown in FIGS. 4 to 8.

As shown in FIGS. 1 and 2, the in-pipe inspection robot system 1000 according to an embodiment of the present invention includes a sensor unit 100 for detecting the presence or absence of a defect in the tube 10 by irradiating a laser, It is connected to the sensor driving unit 200 and the sensor driving unit 200 that rotates the sensor unit 100 along the inner surface of the tube 10, so that the sensor unit 100 and the sensor driving unit 200 are connected in the tube 10. It may include a traveling unit 300 to move.

1 to 3, the sensor unit 100 is a part that irradiates a laser toward the inside of the tube 10 and receives the reflected laser in order to detect the presence or absence of a defect in the tube 10. Here, the sensor unit 100 according to an embodiment of the present invention may be provided as a single module and coupled to the sensor driving unit 200.

In addition, the sensor unit 100 may be provided to be less than 60 X 60 (W X H) so that the size of the sensor unit 100 is not larger than the diameter of the tube 10. This is because the in-pipe inspection robot system 100 according to an embodiment of the present invention is inserted into the pipe 10 having a diameter of 90 mm to 155 mm for inspection, when the size of the sensor unit 100 increases, the pipe ( This is because it may be difficult to insert into 10) or to measure the presence or state of defects in the tube 10 because it cannot be rotated in the tube 10.

The sensor unit 100 as described above may include a sensor body 110, a laser unit 120 and a power connection unit 130.

The sensor body 110 of the sensor unit 100 is a case of the sensor unit 100 and is reflected from the light emitting unit 122 and the tube 10 to irradiate a laser toward the inner surface of the tube 10 inside. A light receiving unit 124 for receiving a laser may be provided. 1 to 3 illustrate that the sensor body 110 is formed in a polygonal case, it is not limited thereto, and the shape may be changed.

The laser unit 120 may be positioned inside the sensor body 110 to irradiate a laser toward the inner surface of the tube 10 and receive a laser reflected from the inner surface of the tube 10.

Referring to FIG. 3, the laser unit 120 may include a light emitting unit 122 and a light receiving unit 124. The light-emitting unit 122 is a part that generates a laser toward the tube 10 in order to detect the current state of the tube 10, and the light receiving unit 124 is irradiated from the light-emitting unit 122 toward the tube 10 and reflected It is the part that receives the laser. The light emitting unit 122 is a laser generating unit (semiconductor laser) 122a that generates a laser, and a light emitting lens (transmitter lens) that facilitates irradiating the light generated from the laser generation unit 122a toward the inner surface of the tube 10 , 122b).

In addition, the light-receiving unit 124 is a light-receiving element that detects light passing through the light-receiving lens 124a and the light-receiving lens 124a through which the laser irradiated toward the inner surface of the tube 10 is reflected from the laser generating unit 122a. A PSD sensor (position sensing device) 124b may be included.

At this time, as the light receiving element of the sensor unit 100 is provided as the PSD sensor 124b, it is possible to shorten the inspection time for defects or cracks in the inner surface of the tube 10. The PSD sensor 124b is a position detection sensor capable of measuring the position of a point light source in one or two dimensions, unlike a general optical sensor, and has a simple structure and high position resolution, fast response speed and simple signal analysis. There are advantages to this possible.

Here, in the sensor body 110 of the sensor unit 100, the angle between the optical system to which the laser is irradiated, that is, the optical axis of the light-emitting unit 122 and the optical system in which the laser forms an image, that is, the optical axis of the light receiving unit 124 is 60 degrees. It is preferable to be formed to be.

The sensor unit 100 as described above may scan the inner surface using a laser while rotating along the circumferential direction of the inner surface of the tube 10. The sensor unit 100 may be rotated along the circumferential direction of the tube 10 by being connected to the sensor driving unit 200.

When the sensor unit 100 is rotated along the inner surface of the tube 10 by the sensor unit 100, the sensor unit 100 moves the sensor driving unit 100 so that the laser unit 120 is as close as possible to the inner surface of the tube 10 200).

Meanwhile, the sensor driving unit 200 may include a driving body 210, a guide wheel 242, and a tension member.

The driving body 210 is manufactured in a cylindrical shape, and various parts such as a driving motor (not shown) that generate a driving force to rotate the sensor unit 100 may be mounted therein. In this case, a mounting flange 212 is provided on one side of the driving body 210, and the sensor unit 100 may be mounted on the mounting flange 212. For reference, the mounting flange 212 is preferably formed in the form of a flat plate-shaped plate (plate) on one side to facilitate the mounting of the sensor unit 100.

Here, when the sensor unit 100 is mounted on the mounting flange 212, the sensor unit 100 may be eccentrically coupled to one side or the other side with respect to the center of the mounting flange 212. As described above, in order for the sensor unit 100 to be located as close as possible to the inner surface of the tube 10, rather than the sensor unit 100 being mounted at the center of the mounting flange 212, one side or the center of the mounting flange 212 It is preferable that the sensor unit 100 is mounted at a location eccentric to the other side.

In addition, as described above, the sensor unit 100 is relatively light in weight, so even if it is coupled to be eccentric to one side or the other side with respect to the center of the mounting flange 212 of the sensor driving unit 200, the inspection robot system 1000 in the tube It does not affect the detection of the presence or state of defects in the tube 10 while traveling inside the tube 10, and it is measured because a large vibration does not occur in the sensor unit 100 when the sensor unit 100 rotates. As a result of the inspection on the inner surface of the tube 10, there is little effect on the reliability.

However, if vibration occurs when the mounted sensor unit 100 rotates at a position eccentric to one side or the other side with respect to the center of the mounting flange 212, the sensor is placed in a symmetrical position with respect to the center of the mounting flange 212. By installing one more unit 100 to prevent vibration during rotation, or by installing a counter balancer (not shown) having the same weight as the weight of the sensor unit 100 on the mounting flange 212, high speed It is also possible to suppress the vibration generated during rotation.

In addition, the sensor unit 100 is mounted on the mounting flange 212, but 2, 3, or 4 sensor units 100 are mounted at intervals of 180 degrees, 120 degrees, or 90 degrees along the arc direction of the mounting flange 212. ) Can be installed to suppress the vibration generated during high-speed rotation. In this way, one to four sensor units 100 mounted on the mounting flange 212 may be mounted, and when one is mounted, a counter balancer having the same weight is additionally mounted on the mounting flange 212, When two to four sensor units 100 are mounted, vibrations generated during high-speed rotation can be suppressed by mounting them in a radial shape at the same intervals or angles.

On the other hand, in order to match the working distance of the laser irradiated from the laser unit 120 of the sensor unit 100 to the diameter of the tube 10 according to the diameter of the tube 10, the sensor is mounted on the mounting flange 212 The position of the unit 100 may be changed or adjusted. To this end, a means for changing or adjusting the mounting position of the sensor unit 100 or fixing the mounting position may be provided on the mounting flange 212.

Since the laser irradiated by the laser unit 120 of the sensor unit 100 is a precision laser, if the position of the sensor unit 100 cannot be adjusted to match the operating distance of the laser according to the diameter of the tube 10, the inside of the tube 10 ) It is inevitable to separately use the sensor unit 100 to which the laser is irradiated with a different working distance depending on the diameter. Since the sensor unit 100 according to the present invention can change or adjust the mounting position while being mounted on the mounting flange 212, it is possible to inspect the inside of the tube 10 of various diameters using one sensor unit 100. There is also an advantage in that it is economical and practical.

The guide wheel 242 provided on the outer surface of the driving body 210 may be a type of wheel for moving the sensor driving unit 200 along the inner tube 10. At this time, the guide wheel 242 may maintain a state in contact with the inner surface of the tube (10).

At least one or more, that is, a plurality of guide wheels 242 may be provided along the length direction of the driving body 210. In addition, the guide wheel 242 may be provided to be detachable from the driving body 210. Accordingly, the operator can replace the guide wheel 242 according to its size in consideration of the diameter of the tube 10.

Here, when the guide wheel 242 is mounted on the driving body 210, it may be coupled through a separate guide frame 240 as a medium. At least one guide frame 240 is provided along the periphery of the outer circumferential surface of the driving body 210 with respect to the driving body 210, and a plurality of guide wheels 242 may be mounted along the length direction of the guide frame 240. have.

As described above, since the guide wheel 242 maintains a state in contact with the inner surface of the tube 10, it may have some degree of elasticity. In this case, a tension member may be provided between the driving body 210 and the guide wheel 242, that is, the guide frame 240 on which the guide wheel 242 is mounted and the driving body 210. The guide wheel 242 may be elastically supported on the inner surface of the tube 10 by the tension member.

The tension member is inserted into the housing 230 inserted from the surface of the driving body 210 and the inside of the housing 230 to resiliently support the guide frame 240 on which the guide wheel 242 is mounted with respect to the driving body 210. It may include an elastic body 232 supported by.

The housing 230 may be formed in a cylindrical shape, and one end may be closed and the other end may be open. At least one housing 230 may be provided to be inserted into the housing mounting portion 211 formed on one side and the other side of the driving body 210, respectively.

The elastic body 232 may be inserted into the housing 230 to generate an elastic force. The elastic body 232 may be provided in the form of a spring, a spring pin, or a ball (ball), but is not limited thereto, and any size and shape that can be moved inside the housing 230 while having an elastic force It's okay.

For example, when the sensor driving unit 200 is positioned in the tube 10, the guide wheel 242 maintains a state in contact with the inner surface of the tube 10. In this case, when the guide wheel 242 moves the inner tube 10 while being pressed toward the driving body 210, the guide wheel 242 is pressed in a state where the tension member including the housing 230 and the elastic body 232 is pressed. Since the mounted guide frame 240 is supported, the guide wheel 242 can maintain a state in contact with the tube 10.

Meanwhile, both sides of the guide frame 240 may be fastened to the driving body 210 through the coupling member 220. Since there is a gap between the coupling member 220 and the guide frame 240, the elastic force due to the tension member can be maintained between the driving body 210 and the guide frame 240 on which the guide wheel 242 is mounted.

One end of the drive body 210 in the longitudinal direction, that is, when viewed from the mounting flange 212 side, the guide wheel 224 and the guide frame 240 are preferably provided on the drive body 210 at intervals of 120 degrees.

The sensor unit 100 and the sensor driving unit 200 may be moved in the tube 10 by the traveling unit 300. In other words, the driving unit 300 is connected to the sensor driving unit 200 so as to move the sensor unit 100 connected to the sensor driving unit 200 as well as the sensor driving unit 200 in the tube 10. . That is, the traveling unit 300 is a driving unit that enables the intra-pipe inspection robot system 1000 to move along the inner tube 10.

Meanwhile, the traveling unit 300 may include a traveling body 310, a traveling part 320, and a variable connecting part 330.

The driving body 310 is a part to which the sensor driving unit 200 is connected, and may be a frame member forming a skeleton of the driving unit 300.

The traveling body 310 has a substantially rectangular parallelepiped shape, and a space is formed therein, and a traveling part 320 and a variable connection part 330 may be provided in the internal space.

The driving unit 320 may be a portion provided on the driving body 310 and generating a driving force for moving the sensor unit 100 and the sensor driving unit 200 along the inner surface of the tube 10. In this case, the driving unit 320 is preferably provided in a pair on the upper and lower portions of the driving body 310, but is not limited thereto. For example, three driving units 320 may be provided at intervals of 120 degrees with respect to the center of the length direction of the driving unit 300, or four driving units 320 may be provided at intervals of 90 degrees. In this way, two or more driving units 320 may be radially provided so as to be spaced apart at the same distance or angle with respect to the longitudinal center of the driving unit 300 or the driving body 310.

Hereinafter, for convenience of description, a case in which a pair of driving units 320 are provided above and below the driving body 310 will be exemplarily described.

The driving unit 320 is a part that serves as a wheel of the driving unit 300, and is provided as a pair on the upper and lower portions of the driving body 310 so as to contact the upper and lower inner surfaces of the tube 10, respectively. I can. Here, it is preferable that the driving unit 320 is provided in the form of a caterpillar (not shown) rather than the form of a wheel (wheel).

The variable connection part 330 is the driving body 310 and the driving part () to expand or contract the driving part 320 provided in a pair on the upper and lower part of the driving body 310 according to the diameter size of the tube 10 320) can be connected.

The variable connection part 330 may connect the driving part 320 and the driving body 310 using the first link member 331, the second link member 335, and the third link member 339.

The first link member 331 of the variable connection part 330 may connect the traveling body 310 and the traveling part 320 at both ends of the traveling body 310 in the width direction. One end of the first link member 331 may be connected to the driving body 310 and the other end of the first link member 331 may be connected to the driving part 320. That is, one end of the first link member 331 connected to the traveling body 310 may be rotatably connected to the traveling body 310 so that the position can be changed along the length direction of the traveling body 310.

The second link member 335 may connect the traveling body 310 and the traveling part 320 at both ends of the traveling body 310 in the width direction. One end of the second link member 335 is connected to the driving body 310, connected at a position spaced apart from the first link member 331 connected to the driving body 310, and the other end of the second link member 335 The end may be connected to the driving part 320 and connected to the same position as the first link member 331 connected to the driving part 320. Accordingly, the second link member 335 may have the same rotation center as the rotation center of the first link member 331 with respect to the driving unit 320.

One end of the first link member 331 rotatably connected to the running body 310 can be changed in position along the longitudinal direction of the running body 310, while the first link rotatably connected to the running body 310 2 One end of the link member 335 is rotatably connected in a fixed position with respect to the traveling body 310.

In addition, the third link member 339 may connect the traveling body 310 and the traveling part 320 at both ends of the traveling body 310 in the width direction. The third link member 339 may be provided to be spaced apart from one end of the second link member 335 connected to the driving body 310 along the length direction of the driving body 310. Here, one end of the third link member 339 is connected to the traveling body 310, and can be rotated on the traveling body 310 at a position spaced apart from the one end of the second link member 335 connected to the traveling body 310 And the other end of the third link member 339 is connected to the driving unit 320 and the other end of the second link member 335 connected to the driving unit 320 and the other end of the first link member 331 It may be rotatably connected to the driving unit 320 at a position spaced apart from the end. Like the second link member 335, both ends of the third link member 339 are rotatably connected to the traveling body 310 and the traveling part 320 at a fixed position.

On the other hand, the first link member 331, the second link member 335, and the third link member 339 may be provided as links having the same length, the second link member 335 and the third The link members 339 may be provided parallel to each other. At this time, the second link member 335 and the third link member 339 may move in a direction different from that of the first link member 331 to advance or retreat.

That is, one end of the second link member 335 and one end of the third link member 339 are rotatably connected at a position fixed to the traveling body 310, but one end of the first link member 331 is driven It is not fixed to the body 310 but is provided to change the connection position forward or backward along the length direction of the traveling body 310. Accordingly, when the connection position of one end of the first link member 331 changes forward or backward along the length direction of the traveling body 310, the second link member 335 rotatably connected to the traveling body 310 A direction in which one end of the first link member 339 and one end of the third link member 339 is closer or farther away from the first link member 331 to expand or approach the driving unit 320 in a direction away from the driving body 310 Can be reduced to

Meanwhile, the variable connection part 330 may include a support block 332, a guide rod 333, and a guide block 334. The support block 332, the guide rod 333, and the guide block 334 use the first link member 331, the second link member 335, and the third link member 339 to move the driving unit 320. When expanding in a direction away from the driving body 310 or reducing in a direction closer to the driving body 310, the position of the driving unit 320 in a state that is moving away or close to the driving body 310 is fixed.

The support block 332 may be provided at one end in the length direction of the traveling body 310 so as to be adjacent to the inside of the traveling body 310, that is, the sensor driving unit 200 in the form of a block. The support block 332 may be connected to one end of the guide rod 333.

The guide rod 333 is formed in the form of a rod having a cylindrical rod shape having a predetermined length, and one end may be connected to the support block 332 in the width direction of the support block 332. In addition, the guide rods 333 may be provided in a pair and connected to both sides of the support block 332 in the width direction. In this case, the guide rod 333 may be provided in parallel with the length direction of the traveling body 310. A guide block 334 may be provided to slide along the outer surface of the guide rod 333.

The guide block 334 may be provided in the form of a block, such as the support block 332 described above, in the form of a long polygon or cylinder in the width direction of the traveling body 310. For reference, in the drawings, the guide block 334 is shown to be formed in a rectangular shape having a long length in the width direction of the traveling body 310, but is not limited thereto.

As described above, the guide rod 333 is inserted through the guide block 334 so that the guide block 344 may slide along the guide rod 333. In other words, a pair of guide rods 333 are provided to pass through the guide block 334 so that the guide block 334 slides along the pair of guide rods 333 in the same direction as the longitudinal direction of the traveling body 310 You can exercise.

In particular, both ends of the guide block 334 may be rotatably connected to one end of the first link member 331 that is located and connected to the inside of the traveling body 310. That is, one end of the first link member 331 located on both sides in the width direction of the traveling part 320 is rotatably connected to both ends of the guide block 334, and the guide block 334 is a pair of guide rods. When sliding along 333, one end of the first link member 331 may also slide along the guide rod 333 together with the guide block 334.

Both ends of the guide block 334 protrude to the outside of the first link member 331 in a state connected to one end of the first link member 331, and both ends of the guide block 334 protrude to the inner side of the traveling body 310. Can be connected. Therefore, one end of the first link member 331 is not directly connected to the inner surface of the driving body 310, but is indirectly connected to the inner surface of the driving body 310 through both ends of the guide block 334 Form.

Here, when the guide block 334 advances in one direction along the pair of guide rods 333, that is, in a direction away from the support block 332 along the longitudinal direction of the traveling body 310, the first link member 331 Since the position of one end of the second link member 335 is changed to a position closer to one end of the second link member 335, that is, the one end connected to the driving body 310, the driving part 320 is moved away from the driving body 310 Can be extended to Conversely, when the guide block 334 retreats along a pair of guide rods 333 in the other direction, that is, in a direction opposite to one direction of the traveling body 310, the position of one end of the first link member 331 is zero. 2 Since one end of the link member 335, that is, a position away from the one end connected to the driving body 310, is changed, the driving part 320 can be reduced in a direction closer to the driving body 310.

At this time, when the guide block 334 is slid along the pair of guide rods 333 and the driving unit 320 is moved in a direction away from the driving body 310, it is located up and down with respect to the driving body 310. Since the traveling part 320 is extended away from the traveling body 310, it can be applied to the inner tube 10 having a large diameter. On the contrary, when the guide block 334 slides along the pair of guide rods 333 and moves in a direction closer to the driving body 310, the driving unit 320 is positioned up and down with respect to the driving body 310. Since the driving part 320 is reduced as it approaches the driving body 310, it can be applied to the inner tube 10 having a relatively small diameter.

Meanwhile, as described above, when the driving unit 320 advances in a direction closer to the driving body 310 or retreats in a direction away from the driving body 310, the driving unit 320 may be positioned at various heights with respect to the driving body 310. have. At this time, since the driving unit 320 is in contact with the inner surface of the tube 10 to move the tube 10, it is necessary to fix the position of the driving unit 320 with respect to the running body 310.

To this end, as shown in FIG. 9, the intra-pipe inspection robot system 1000 according to an embodiment of the present invention may further include position fixing blocks 336 and 337.

The position fixing blocks 336 and 337 may be provided on the driving body 310 so that the position of the driving part 320 with respect to the driving body 310 is fixed. In other words, the positioning blocks 336 and 337 are provided on the inner surface of the traveling body 310 in the width direction, and both ends of the guide block 334 may be inserted. At this time, the positioning blocks (336, 337) are provided in a pair on both sides in the width direction of the traveling body (310), and both ends of the guide block (334) may be inserted, or provided in any one of the pair of traveling bodies (310). Only one portion of both ends of the guide block 334 may be inserted.

These location fixing blocks 336 and 337 may include a first location fixing block 336 and a second location fixing block 337.

The first position fixing block 336 is provided at a position adjacent to the support block 332, and the second position fixing block 337 is spaced apart from the first position fixing block 336 along the length direction of the traveling body 310 It can be provided in a location.

At this time, at least one step adjustment unit may be formed in each of the first position fixing block 336 and the second position fixing block 337. At least one step adjustment unit may be provided in the first and second position fixing blocks 336 and 337 at a predetermined interval. For example, a plurality of step adjustment units 336a, 336b, and 336c are formed in the first position fixing block 336, and at least one step adjustment unit 337a is formed in the second position fixing block 337. I can.

The step adjustment units 336a, 336b, 336c, and 337a may be formed in the first and second position fixing blocks 336 and 337 in the form of an intaglio groove or a hole form. As described above, both ends of the guide block 334 in the longitudinal direction may be inserted into the step adjustment units 336a, 336b, 336c, and 337a.

Both ends of the guide block 334 are inserted into any one of a plurality of step adjustment units 336a, 336b, 336c, and 337a formed in the first position fixing block 336 or the second position fixing block 337, so that the driving unit ( 320 may be fixed at a position in an expanded state away from the driving body 310, or may be fixed at a position in a reduced state by approaching the driving unit 320 toward the driving body 310.

With reference to FIGS. 4 to 8, the operation of the driving unit 320 that expands or contracts in the vertical direction with respect to the driving body 310 according to an embodiment of the present invention will be briefly described.

4, 5 and 9, in a state in which the guide block 334 is positioned close to the support block 332, both ends of the guide block 334 are the first of the first position fixing block 336. When inserted into the step adjustment unit 336a, the driving unit 320 is fixed in a state positioned close to the driving body 310 without moving away.

As shown in FIGS. 4 and 5, when the driving part 320 is located close to the driving body 310, it may correspond to, for example, the inner surface of the barrel or the inner tube 10 having a diameter of about 90 mm. Since the maximum distance between the driving parts 320 connected to the driving body 310, that is, the distance between the outermost surface of the driving part 320 in contact with the inner surface of the tube 10 is about 90 mm, it has a diameter of 90 mm. While maintaining the state in contact with the inner surface of the inner tube 10, the inner tube inspection robot system 1000 travels the inner tube 10. At this time, the guide frame 240 and the guide wheel 242 of the sensor driving unit 200 are fitted to the inner surface of the tube 10 having a diameter of 90 mm according to the height of the driving part 320 with respect to the driving body 310. 242) can be reached. Accordingly, when the driving unit 320 moves the tube 10 while maintaining contact with the inner surface of the tube 10, the guide wheel 242 is also the inner surface of the tube 10 like the driving unit 320 Will be in contact with.

6 and 9, in a state in which the guide block 334 is moved in a direction slightly away from the support block 332, both ends of the guide block 334 are adjusted in the second step of the first position fixing block 336 When inserted into the part 336b, the driving part 320 is moved to a position slightly distant from the driving body 310 compared to FIG. 4 and is fixed in an extended state. When both ends of the guide block 334 are inserted into the second step adjustment unit 336b of the first position fixing block 336, one end of the first link member 331 is more than when inserted into the first step adjustment unit 336a. Since the part and the one end of the second link member 335 are closer together, the driving part 320 is in an extended state with respect to the driving body 310 than in the case of FIG. 4.

As shown in FIG. 6, when the driving part 320 is located in a direction further away from the driving body 310 than in FIG. 4 and expanded, for example, on the inner surface of the barrel having a diameter of about 105 mm or inside the tube 10 Can respond. Since the maximum distance between the driving parts 320 connected to the driving body 310, that is, the distance between the outermost surface of the driving part 320 in contact with the inner surface of the tube 10 is about 105 mm, it has a diameter of 105 mm. While maintaining the state in contact with the inner surface of the inner tube 10, the inner tube inspection robot system 1000 travels the inner tube 10. At this time, the guide frame 240-1 and the guide wheel 242-1 of the sensor driving unit 200 are aligned with the height of the driving part 320 with respect to the driving body 310 to the inner surface of the tube 10 having a diameter of 105 mm. The guide frame 240 and the guide wheel 242 of FIG. 4 described above may be replaced and mounted so that the guide wheel 242-1 can be reached. Accordingly, when traveling in the tube 10 while maintaining the driving unit 320 in contact with the inner surface of the tube 10, the guide wheel 242-1 of the sensor driving unit 200 is also the driving unit ( Like 320), it is brought into contact with the inner surface of the tube 10.

7 and 9, in a state where the guide block 334 is moved in a direction further away from the support block 332, both ends of the guide block 334 are adjusted in the third stage of the first position fixing block 336 When inserted into the part 336c, the driving part 320 is moved to a position slightly away from the driving body 310 compared to FIG. 6 and fixed in an extended state. When both ends of the guide block 334 are inserted into the third step adjustment unit 336c of the first position fixing block 336, one end of the first link member 331 is more than when inserted into the second step adjustment unit 336b. Since the part and the one end of the second link member 335 are closer together, the driving part 320 is in an extended state with respect to the driving body 310 than in the case of FIG. 6.

As shown in FIG. 7, when the traveling part 320 is located in a direction further away from the traveling body 310 than in FIG. 6 and expanded, for example, on the inner surface of the barrel or the inner tube 10 having a diameter of about 120 mm. Can respond. Since the maximum distance between the traveling parts 320 connected to the traveling body 310, that is, the distance between the outermost surface of the traveling part 320 in contact with the inner surface of the tube 10 is about 120 mm, it has a diameter of 120 mm. While maintaining the state in contact with the inner surface of the inner tube 10, the inner tube inspection robot system 1000 travels the inner tube 10. At this time, the guide frame 240-2 and the guide wheel 242-2 of the sensor driving unit 200 are aligned with the height of the driving part 320 with respect to the driving body 310, and the inner surface of the tube 10 having a diameter of 120 mm The guide wheel (242-2) may be replaced with a larger one than the guide frame (240-1) and guide wheel (242-1) shown in FIG. 6 described above so that it can reach. Accordingly, when the guide wheel 242-2 of the sensor driving unit 220 is also in contact with the inner surface of the tube 10 while the driving unit 320 is in contact with the inner surface of the tube 10, the sensor driving unit The guide wheel (242-2) of 200 is also brought into contact with the inner surface of the tube (10) like the driving unit (320).

8 and 9, in a state in which the guide block 334 is moved further away from the support block 332, both ends of the guide block 334 are adjusted in the fourth step of the second position fixing block 337. When inserted into the part 337a, the driving part 320 is moved to a position further away from the driving body 310 compared to FIG. 7 and fixed in an extended state. When both ends of the guide block 334 are inserted into the fourth step adjustment unit 337a of the second position fixing block 337, one end of the first link member 331 is more than when inserted into the third step adjustment unit 336c. Since the portion and the one end portion of the second link member 335 are closer together, the driving unit 320 is in an extended state with respect to the driving body 310 than in the case of FIG. 7.

As shown in FIG. 8, when the driving part 320 is located in a direction further away from the driving body 310 than in FIG. 7 and expanded, for example, on the inner surface of the barrel having a diameter of about 155 mm or in the tube 10 Can respond. Since the maximum distance between the traveling parts 320 connected to the traveling body 310, that is, the outermost surface of the traveling part 320 in contact with the inner surface of the tube 10 is about 155mm, it has a diameter of 155mm. While maintaining the state in contact with the inner surface of the inner tube 10, the inner tube inspection robot system 1000 travels the inner tube 10. At this time, the guide frame 242-3 and the guide wheel 242-3 of the sensor driving unit 200 are aligned with the height of the driving part 320 relative to the driving body 310, and the inner surface of the 155mm diameter tube 10 The guide wheel (242-3) may be replaced with a larger one than the guide frame (240-2) and guide wheel (242-2) shown in FIG. 7 described above so that it can reach. Accordingly, the guide wheel 242-3 of the sensor driving unit 220 also maintains a state in which the driving unit 320 is in contact with the inner surface of the pipe 10 while traveling inside the pipe 10, the sensor driving unit The guide wheel (242-3) of 200 is also in contact with the inner surface of the tube (10) like the traveling unit (302).

For reference, referring to FIG. 5, the guide frame 240 of the sensor driving unit 200 accordingly expands or contracts in a direction in which the driving unit 320 is extended in a direction away from or closer to the driving body 310 in the vertical direction. ) And the guide wheel 242 may also be replaced with one that fits the height of the driving part 320 with respect to the driving body 310. Here, only one of the guide frame 240 or the guide wheel 242 may be replaced according to the height of the driving unit 320 relative to the driving body 310, but for stable rotation of the sensor unit 100 It is preferable that both the guide frame 240 and the guide wheel 242 are replaced according to a change in the height of the driving part 320 with respect to the driving body 310.

Referring to FIG. 2, the connection part 250 of the sensor driving unit 200 and the connection part 350 of the driving unit 300 may be connected through a cross-shaft-shaped connection member 360 and a fastening means 262. At this time, the connection part 250 of the sensor driving unit 200, the connection member 360, and the connection part 350 of the traveling unit 300 may be provided in the form of a type of universal joint.

Accordingly, the connection member 360 can freely rotate each other in the vertical or horizontal direction by connecting the respective connection portions 250 and 350 of the sensor driving unit 200 and the driving unit 300, thereby driving the sensor. The unit 200 and the driving unit 300 can move smoothly not only in a straight pipe formed straight, but also inside a curved pipe formed in a curved or curved shape.

On the other hand, see Figures 1 and 9 as a running body 310 running body 310 body cover 312 body cover 312 first position fixing block 336 second position fixing block 337 body cover 312 first Block mounting portions 316 and 317 on which the position fixing block 336 and the second position fixing block 337 are mounted may be formed. The block mounting parts 316 and 317 may include a first block mounting part 316 and a second block mounting part 317 to which the first positioning block 336 and the second positioning block 337 are mounted, respectively.

The first block mounting portion 316 and the second block mounting portion 317 are formed in a shape similar to that of the first positioning block 336 and the second positioning block 337, but the first positioning block 336 and the second It is preferable that it is formed larger than the position fixing block 337. The first block mounting portion 316 and the second block mounting portion 317 may be recessed in an intaglio on the inner surface of the body cover 312. The first block mounting part 316 and the second block mounting part 317 may be provided at positions spaced apart from each other corresponding to the positions of the first position fixing block 336 and the second position fixing block 337.

Here, at least one block mounting groove (316a, 317a) inserted in an intaglio is provided on the inner surface of the first block mounting part 316 and the second block mounting part 317 in the thickness direction, that is, the inner surface of the body cover 312 in the thickness direction. Can be. The block mounting grooves 316a and 317a are formed in the first block mounting groove 316a formed in the first block mounting part 316 and the second block mounting part 317 provided at a position spaced apart from the first block mounting part 316. It may include 2 block mounting grooves (317a).

A first position fixing block 336 is inserted into the first block mounting groove 316a and mounted on the body cover 312, and a second position fixing block 337 is inserted into the second block mounting groove 317a. It may be mounted on the cover 312.

In this case, the size of the first block mounting portion 316 and the second block mounting portion 317 in the width direction may be provided with different sizes on one side and the other side in the length direction of the body cover 312.

Specifically, a width of the first block mounting part 316 and the second block mounting part 317 on the side of the support block 332 may be larger than the width of the opposite side. That is, the width of the support block 332 side of the first block mounting portion 316 and the second block mounting portion 317 is formed larger than the width of the first positioning block 336 and the second positioning block 337, The widths opposite the first block mounting portion 316 and the second block mounting portion 317 may be formed to be smaller than the widths of the first positioning block 336 and the second positioning block 337. Accordingly, the first position fixing block 336 and the second position fixing in the first block mounting groove 316a of the first block mounting portion 316 and the second block mounting groove 317a of the second block mounting portion 317 Even if the blocks 337 are respectively inserted, it is possible to prevent the first positioning block 336 and the second positioning block 337 from being separated from the first block mounting groove 316a and the second block mounting groove 317a. .

For reference, when the driving part 320 is moved away from or close to the driving body 310, the body cover 312 is removed from the driving body 310 using the handle 314 formed on the body cover 312. And, the operator can adjust the size of the driving unit 300 by expanding or closing the driving unit 320 with respect to the driving body 310 according to the diameter of the pipe 10 into which the pipe inspection robot system 1000 is inserted. After adjusting the size of the driving unit 300 to fit the diameter of the tube 10 by unfolding or constricting the driving unit 320, the body cover 312 is mounted on the driving body 310, The size can be fixed. When the body cover 312 is mounted on the traveling body 310, both ends of the guide block 334 are one of the step adjustment units 336a, 336b, 336c, 337a of the first and second position fixing blocks 336 and 337. While being inserted into, the size of the driving unit 320 may be fixed.

In addition, a movement blocking member 313 may be provided on the traveling body 310. The movement blocking member 313 may be provided at one end of the traveling body 310 in the longitudinal direction, and may be provided at a position where the guide rod 333 ends. In other words, when the guide block 334 slides along the pair of guide rods 333, the movement blocking member 313 is formed even if the guide block 334 advances further than the fourth step adjustment unit 337a. It is possible to prevent separation of the guide rod 333.

As described above, when the driving unit 320 is expanded or contracted with respect to the driving body 310, the intra-pipe inspection robot system 1000 according to the present embodiment maintains a close contact with the inner surface of the pipe 10. ) To drive.

Referring to FIG. 10, the driving unit 320 is a pair of driving frames 321 that are provided long along the length direction of the driving body 310, and a pair of driving so as to be located at both ends of the driving frame 321 in the length direction. The driving pulley 322 and the driven pulley 352, which are provided between the frames 321 and drive a caterpillar or rubber belt (not shown) in contact with the inner surface of the pipe 10, and a pair of traveling frames 321 It may include a driving motor 327 that provides a driving force to the driving pulley 322 and an encoder module 328 that measures the rotation amount or rotation speed of the driven pulley 352.

The traveling frame 321 may be provided in the form of a plate. The running frames 321 are provided as a pair, and may be provided in parallel with a predetermined interval.

A drive pulley 322 and a driven pulley 352 may be positioned between the traveling frames 321, that is, between both ends of the pair of traveling frames 321. Although not shown in the drawing, the driving pulley 322 and the driven pulley 352 are connected through a caterpillar track or a rubber belt (not shown), so that the driving force of the driving motor 327 received from the driving pulley 322 is in a caterpillar track. Alternatively, it may be transmitted to the driven pulley 352 through a rubber belt.

Meanwhile, a rotation shaft (not shown) of the driving pulley 322 and the driven pulley 352 may be supported by a pair of traveling frames 321 and rotated. The driving pulley 322 may be connected to the driving motor 327 by a gear so as to receive the driving force of the driving motor 327.

Referring to FIG. 10, a driving pulley gear 322a is formed on one surface of a driving frame 321 side of a driving pulley 322 located on the left side in the longitudinal direction of a pair of driving frames 321, and a driving pulley gear 322a ) Is engaged with the connecting gear 338a. At this time, the connection gear 338a may be rotatably coupled to the driving frame 321 through a drive shaft 338b.

Here, the connection gear 338a may be connected to receive a driving force from the driving gear 338 coupled to the rotation shaft of the traveling motor 327. Accordingly, the driving force of the driving motor 327 is transmitted to the connecting gear 338a and the driving pulley gear 322a through the driving gear 338, thereby rotating the driving pulley 322.

For reference, the driving gear 338 is preferably provided with a bevel gear, which is a conical gear, so as to transmit driving force between the shaft (not shown) of the traveling motor 327 and the drive shaft 338b crossing each other. Do. This is because the driving gear 338 must receive the rotational force of the travel motor 327 and transmit the rotational force to the connection gear 338a positioned perpendicular to the axis of the travel motor 327. Here, a connection bevel gear (not shown) may be provided on one side of the connection motor 338a, and the connection bevel gear may be formed on the drive shaft 338b. The connection bevel gear formed on one side of the connection gear 338a may be engaged with the driving gear 338 to transmit the rotational force of the traveling motor 327 to the connection gear 338a.

Meanwhile, the rotational force of the driving motor 327 transmitted to the driving pulley gear 322a is transmitted to the driving pulley 322, and the rotational force of the driving motor 327 transmitted to the driving pulley 322 is infinite, not shown in FIG. It may be transmitted to the driven pulley 352 through a track or a rubber belt.

Here, an encoder module 328 may be provided on one side of the driven pulley 352. The encoder module 328 may indirectly measure the rotation amount or rotation speed of the driving pulley 322 by measuring the rotation amount or rotation speed of the driven pulley 352.

When the driven pulley 352 located on the right side of the driving frame 321 that has received the rotational force transmitted from the driving pulley 322 located on the left side of the driving frame 321 is rotated, the encoder module 328 is the driven pulley 352 ) Of rotation amount or rotation speed can be detected. Rotation of the encoder module 328 may be sensed by a speed sensing member 329 positioned adjacent to the encoder module 328.

Instead of measuring the rotation amount or rotation speed of the driven pulley 352, the encoder module 328 may directly measure the rotation amount or rotation speed of the driving pulley 322. In the case of FIG. 10, there is no space to install the encoder module 328 on one side of the driving pulley 322 because the driving motor 327 is connected to the driving pulley 322, so the encoder module on one side of the driven pulley 352 328 is installed.

The encoder module 328 may directly measure the rotation amount or rotation speed of the driven pulley 352, but in the case of the present invention, the rotation amount of the encoder gear 328a provided to receive rotational force from the driven pulley 352 or Measure the rotation speed.

A driven pulley gear 352a is formed on one side of the driven pulley 352, and an encoder gear 328a may be provided so as to mesh with the driven pulley gear 352a. Here, it is preferable that the driven pulley gear 352a is provided at a position symmetrical with the driving pulley gear 322a, and the encoder gear 328a is provided at a position symmetrical with the connecting gear 338a.

The encoder gear 328a may be connected to the encoder shaft 328b, and both ends of the encoder shaft 328b may be rotatably connected to the traveling frame 321. An encoder rotor 328c may be provided on the encoder shaft 328b at a position spaced apart from the encoder gear 328a.

A number of resolution holes may be formed in the encoder rotor 328c provided on the encoder shaft 328b. The encoder rotor 328c may be provided to be positioned between the optical transmission unit (not shown) and the light receiving unit (not shown) of the speed sensing member 328d.

The encoder rotor 328c can improve the accuracy of position detection of the driven pulley 352 by the encoder rotor 328c by securing a precise resolution according to the following [Equation 1].

[Equation 1]

Resolution = 2 * π * r/24

In [Equation 1], r is the radius of the encoder rotor 328c.

Accordingly, the rotation amount or rotation speed of the driving pulley 322 or the driven pulley 352 can be more accurately measured, and the driving pulley 322 can be driven at the same rotation speed. In this way, by measuring the rotation amount or rotation speed of the drive pulley 322 by the encoder module 328, the position or running speed in the tube 10 of the traveling unit 300 to the in-pipe inspection robot system 1000 can be determined. Can be measured.

Meanwhile, a communication/power connection unit 340 may be provided on the traveling body 310. A communication/power connection terminal 342 may be provided in the communication/power connection unit 340. The control unit 370, which collects or transmits information on the presence or absence of defects or the current state of the tube 10 by transmitting and receiving information on the presence or absence of defects or the current state of the tube 10 detected by the sensor unit 100 communicates / Can be connected to the power connection terminal 342.

At this time, the control unit 370 adjusts the rotational force or rotational speed of the driving motor 327 of the driving unit 320, or the rotation of the driving pulley 322 measured by the encoder module 328 and the speed sensing member 329 You can also measure or control the speed or amount of rotation.

Meanwhile, a method of inspecting the presence or state of defects in the pipe 10 using the pipe inspection robot system 1000 according to an embodiment of the present invention will be briefly described with reference to FIGS. 1 to 10.

First, the intraluminal inspection robot system 1000 may inspect the inner tube 10 while driving the inner tube 10 in two modes of a coarse mode and a fine mode.

Here, it is preferable that the moving speed of the intraluminal inspection robot system 1000 in the coarse mode is faster than the moving speed in the fine mode.

That is, the intra-pipe inspection robot system 1000 enters the pipe 10 at a relatively high speed in a rough mode when the pipe 10 enters (advances). At this time, while driving in the coarse mode, collecting data on the condition of the pipe according to the distance value of the pipe 10, such as whether there is a defect in the pipe 10, is converted into a database, and after first grasping the condition of the pipe, advances from the pipe 10 (backward ), the part without defects or cracks, etc., drives quickly in the rough mode, and only the part where the condition such as defects or cracks is confirmed, that is, the part that requires detailed confirmation, is switched to the fine mode, that is, the auto fine mode. While moving relatively slowly, the inside of the tube 10 can be accurately inspected. As described above, since the intra-pipe inspection robot system 1000 according to the present invention inspects the inner tube 10 in a dual mode such as a coarse mode and a fine mode, most defect-free areas are inspected in a coarse mode to significantly reduce inspection time. In spite of being reduced to, it is possible to perform precise inspection by inspecting in a fine mode in the defective area.

On the other hand, with reference to FIG. 11, an in-pipe inspection robot system 2000 according to another embodiment of the present invention will be described focusing on differences from the above-described embodiment.

11 is a perspective view of an intraluminal inspection robot system 2000 according to another embodiment of the present invention.

Referring to FIG. 11, in a tube inspection robot system 2000 according to another embodiment of the present invention, a sensor unit 400 and a sensor unit 400 for detecting the presence or absence of a defect in the tube 10 and a sensor unit 400 are connected, It is connected to the sensor driving unit 200 and the sensor driving unit 200 that rotates the sensor unit 400 along the inner surface of the tube 10, so that the sensor unit 400 and the sensor driving unit 200 are connected in the tube 10. It may include a traveling unit 300 to move.

Since the in-pipe inspection robot system 2000 according to another embodiment of the present invention is substantially the same as the above-described embodiment, except for the sensor unit 400, the same names and reference numerals are given to the same configurations, and For the description, the above-described embodiment will be applied mutatis mutandis.

As shown in FIG. 11, the sensor unit 400 may include a casing 410 and a laser sensor module 412.

Casing 410 is a type of case in which the laser sensor module 412 is located, and in particular, a portion coupled to the mounting flange 212 rotated by a rotation motor (not shown) of the sensor driving unit 200 Can be

The casing 410 is formed in a cylindrical shape, the laser sensor module 412 is positioned therein, and the electrical wiring of the laser sensor module 412 may be connected to the sensor driving unit 200 through the casing 410.

The laser sensor module 412 provided inside the casing 410 may detect the state of the tube 10. Here, the laser sensor module 412 may be a generally used laser sensor module 412, but is not limited thereto.

On the other hand, since the laser sensor module 412 is located inside the casing 410, when the laser sensor module 412 and the casing 410 are rotated by the sensor driving unit 200, vibration may occur. When transmitted to the sensor module 412, the measurement accuracy of the laser sensor module 412 may be deteriorated. Moreover, because the weight of the casing 410 in which the laser sensor module 412 is located is inevitable, the laser sensor module 412 is inevitably shaken, and accordingly, the inside of the tube 10 measured by the laser sensor module 412 The reliability of the test results for the condition of may decrease.

In order to prevent vibration generated when the laser sensor module 412 rotates, the sensor unit 400 according to another embodiment of the present invention may further include a sensor support part 420.

The sensor support 420 may be connected to one surface of the casing 410 in which the laser sensor module 412 is located. The sensor support 420 may suppress vibration generated when the laser sensor module 412 rotates or may elastically support the laser sensor module 412 with respect to the inner surface of the tube 10.

The sensor support 420 may include a base 422, a support member 426 and a tension wheel 427.

The base 422 is a part that is coupled to the casing 410. The base 422 may be provided in the form of a flat disk to facilitate coupling with the casing 410.

A support member 426 may be disposed on the base 422. The support member 426 may be disposed in a direction perpendicular to the base 422. At this time, the support member 426 is formed of at least one or more, and preferably, about three may be provided at predetermined intervals along the circumferential direction.

Here, an elastic member 423 may be provided between the base 422 and the support member 426. The elastic member 423 is for facilitating movement of the support member 426 relative to the base 422. The elastic member 423 is a member having elasticity, and while facilitating the movement of the sensor support 420 between the bases 422, external vibration or impact is prevented by the laser sensor module 412 located inside the casing 410 It can be prevented from being transmitted.

In addition, a support piece 424 may be provided between the elastic member 423 and the support member 426. The support piece 424 is to allow the support member 426 to be more completely coupled to the elastic member 423.

Meanwhile, a tension wheel 427 may be provided on the support member 426. The tension wheel 427 may be provided at an end of each of the at least one support member 426. At this time, the tension wheel 427 may be in contact with the inner surface of the tube 10 to elastically support the laser sensor module 412 with respect to the inner surface of the tube 10.

Here, when the support piece 424 and the support member 426 are coupled, the support member 426 may have an elastic force because it is coupled through an elastic member (not shown) having an elastic force. For reference, the elastic member may be provided with a compression spring, but is not limited thereto.

Accordingly, the tension wheel 427 coupled to the support member 426 may expand or contract according to the diameter of the tube 10 in a state in close contact with the inner surface of the tube 10.

That is, when the intraluminal inspection robot system 2000 according to another embodiment of the present invention is inserted into the tube 10 and moved along the inner surface of the tube 10, the tension wheel 427 of the sensor support 420 is It can be in close contact with the inner surface of (10). In this way, as the tension wheel 427 of the sensor support part 420 is kept in close contact with the inner surface of the tube 10, the laser sensor module 412 located inside the casing 410 is shaken when rotating. In this way, the laser sensor module 412 can have reliability with respect to the inspection result for the presence or absence of defects in the tube 10 or the state.

As described above, in one embodiment of the present invention, specific matters such as specific components, etc., and limited embodiments and drawings have been described, but this is provided only to aid in a more general understanding of the present invention. It is not limited, and various modifications and variations are possible from these descriptions by those of ordinary skill in the field to which the present invention belongs. Accordingly, the spirit of the present invention is limited to the described embodiments and should not be defined, and all things equivalent or equivalent to the claims as well as the claims to be described later belong to the scope of the inventive concept.

1000, 2000: In-house inspection robot system
100, 400: sensor unit 200: sensor drive unit
300: traveling unit 310: traveling body
320: driving unit 321: driving frame
322: drive pulley 327: traveling motor
338: encoder module 330: variable connection
331: first link member 332: support block
333: guide rod 334: guide block
335: second link member 336: first position fixing block
336a, 336b, 336c: first, second, third stage adjustment unit
337: second position fixing block 337a: fourth stage adjustment unit
339: third link member 340: communication/power connection
370: control unit 410: casing
412: laser sensor module 420: sensor support
422: base 426: support member
427: tension wheel

Claims (18)

A sensor unit that detects the presence or absence of a defect in the tube;
A sensor driving unit connected to the sensor unit and rotating the sensor unit along an inner surface of the tube; And
A traveling unit connected to the sensor driving unit to move the sensor unit and the sensor driving unit in the tube;
Including,
The traveling unit is provided to be expandable or contracted in a radial direction in the pipe, and moves inside the pipe while in contact with the inner surface of the pipe.
The method of claim 1,
The sensor driving unit,
A driving body to which the sensor unit is coupled;
A guide wheel detachably provided on the drive body along the longitudinal direction of the drive body and contacting the inner surface of the tube; And
A tension member provided between the driving body and the guide wheel to elastically support the guide wheel against the inner surface of the tube; Intestinal inspection robot system comprising a.
The method of claim 2,
The guide wheel is a tube inspection robot system, characterized in that provided to be replaced according to the size of the diameter of the tube.
The method of claim 3,
The traveling unit,
A traveling body to which the sensor driving unit is connected;
A traveling unit connected to the traveling body to move the sensor unit and the sensor driving unit along an inner surface of the tube; And
A variable connection part connecting the driving body and the driving part to expand or contract the driving part according to the size of the inner diameter of the pipe; Including,
The in-pipe inspection robot system, characterized in that two or more of the driving units are radially provided so as to be spaced apart at the same distance or angle with respect to the longitudinal center of the traveling unit or the traveling body.
The method of claim 4,
The variable connection part,
A first link member connecting the traveling body and the traveling part at both ends of the traveling body in the width direction;
A second link member connected to the driving unit so as to connect the driving body and the driving unit at both ends of the driving body in the width direction, and have the same rotation center as the rotation center of the driving unit and the first link member; And
A third link member connected to the traveling body and the traveling part at both ends of the traveling body in the width direction, and spaced apart from the second link member along the length direction of the traveling body; Intestinal inspection robot system comprising a.
The method of claim 5,
The first link member, the second link member and the third link member are formed to have the same length,
The second link member and the third link member are provided parallel to each other,
One end of the first link member connected to the traveling body is rotatably connected to the traveling body so that the position can be changed along the length direction of the traveling body.
The method of claim 6,
The variable connection part,
A support block provided inside the traveling body and disposed at one end of the traveling body in the longitudinal direction so as to be adjacent to the sensor driving unit;
A pair of guide rods connected to both sides of the support block in the width direction and provided in parallel with the length direction of the traveling body; And
A guide block passing through the pair of guide rods so as to slide along the pair of guide rods, and having both ends rotatably connected to one end of a first link member located inside the traveling body; Intestinal inspection robot system comprising a.
The method of claim 7,
When the guide block advances in one direction along the guide rod, the driving part is extended in a direction away from the driving body,
When the guide block is retracted in one direction along the guide rod, the driving unit is reduced in a direction closer to the driving body.
The method of claim 8,
Position fixing blocks into which both ends of the guide block are inserted are provided on the inner surface of the traveling body in the width direction,
In the tube inspection robot system, characterized in that the position fixing block is formed with at least one step adjustment portion is inserted at both ends of the guide block.
The method of claim 9,
The location fixing block,
A first position fixing block provided to be adjacent to the support block; And
A second position fixing block provided to be spaced apart from the first position fixing block along the longitudinal direction of the traveling body; Including,
In the tube inspection robot system, characterized in that a plurality of step adjustment units are formed in the first position fixing block, and at least one step adjustment unit is formed in the second position fixing block.
The method of claim 10,
Intra-tube inspection robot, characterized in that the traveling part is expanded or contracted with respect to the traveling body by inserting both ends of the guide block into one of the step adjustment parts formed in the first position fixing block or the second position fixing block. system.
The method according to any one of claims 7 to 11,
The driving unit,
A pair of traveling frames that are elongated along the longitudinal direction of the traveling body;
A driving pulley and a driven pulley provided between the pair of driving frames to be located at both ends of the driving frame in the longitudinal direction;
A traveling motor provided between the pair of traveling frames and providing a driving force to the drive pulley; And
An encoder module measuring the rotation amount or rotation speed of the driving pulley or the driven pulley; Intestinal inspection robot system comprising a.
The method of claim 12,
The sensor unit,
A casing provided on one side of the driving body and coupled to a mounting flange rotated by a rotation motor of the sensor driving unit; And
A laser sensor module provided inside the casing; Including,
Wherein the sensor unit is coupled to the mounting flange so that the laser sensor module is close to the inner surface of the tube.
The method of claim 12,
The sensor unit,
A casing coupled to the mounting flange rotated by the rotation motor of the sensor driving unit;
A laser sensor module provided inside the casing to sense a state in the tube; And
A sensor support part that suppresses vibration generated when the laser sensor module rotates or supports the laser sensor module with respect to an inner surface of the tube; Intestinal inspection robot system comprising a.
The method of claim 14,
The sensor support,
A base coupled to the casing;
A support member disposed in a direction perpendicular to the base; And
A tension wheel provided at an end of the support member and in contact with the inner surface of the tube to elastically support the laser sensor module with respect to the inner surface of the tube; In-house inspection robot system comprising a.
The method of claim 13,
The sensor unit is a tube inspection robot system, characterized in that it is provided to change or adjust the position mounted on the mounting flange.
The method of claim 13,
The sensor unit, the in-pipe inspection robot system, characterized in that it comprises a counter balancer mounted on the mounting flange to suppress the vibration generated during high-speed rotation.
The method of claim 12,
The driving unit,
When entering the tube, it is relatively fast driving in a coarse mode and the inside of the tube is inspected to determine the presence or absence of a defect. In-house inspection robot system, characterized in that the detailed inspection while driving slowly.

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