WO2017052311A1

WO2017052311A1 - Pipe crawler robot launcher

Info

Publication number: WO2017052311A1
Application number: PCT/KR2016/010721
Authority: WO
Inventors: 한경룡; 이재열; 서진호; 유호; 홍성호; 이주환; 최일섭
Original assignee: 주식회사 포스코; 한국로봇융합연구원
Priority date: 2015-09-24
Filing date: 2016-09-23
Publication date: 2017-03-30
Also published as: WO2017052311A8; JP2018533699A; CN108139013A; JP6640335B2; KR101767740B1; KR20170036948A

Abstract

The purpose of an embodiment of the present invention is to provide a pipe crawler robot launcher configured such that a pipe crawler robot, which is introduced to clean or inspect the interior of a pipe, can be easily introduced into a pipe or recovered therefrom, the same can be used regardless of the status of installation of the pipe, and the same can be easily moved and stored. A pipe crawler robot launcher according to an aspect of the present invention comprises: a housing having a space formed therein such that a pipe crawler robot is contained therein, the housing being positioned on one side of a pipe such that the pipe crawler robot is carried into or out of the same; and a transfer unit coupled to the lower portion of the housing so as to transfer the housing.

Description

Launcher for Piping Mobile Robot

The present invention relates to a launcher for a pipe moving robot, and more particularly, to a launcher for a pipe moving robot used to inject a pipe moving robot that is input for blockage or inspection of the pipe into the pipe.

Generally, piping is used to transfer fluids including water, oil, COG, etc. in various industries such as steel mills and heavy chemical plants. These pipes are provided to withstand the high pressure generated by the flow of the fluid, and the capacity of the pipe is excessively installed in consideration of the deposition of foreign matters generated during the flow of the fluid.

As such pipes are installed with excessive capacity, the investment for new equipment is increasing.In the case of continuous use, the service life may be reduced due to the corrosion phenomenon caused by foreign substances such as tar in the pipes, and the gas pressure fluctuation and supply failure problems due to the deposition of foreign substances may occur. In addition, there is a risk of breakage, gas leakage, fluid loss, and explosion accident due to corrosion of the pipe.

Accordingly, in order to prevent the removal of foreign matters accumulated in the pipe, corrosion of the pipe, and the perforation, the pipe is periodically replaced or cleaned. For example, recently, the pipe moving robot moving along the pipe cleans or inspects the pipe. The technology has been developed and used, and the development of a technology for facilitating the input and recovery of such a pipe mobile robot is required.

One embodiment of the present invention to facilitate the introduction or recovery of the pipe moving robot to be introduced into the pipe for cleaning or inspection of the inside of the pipe, can be used regardless of the installation situation of the pipe, easy to move and store It is an object to provide a launcher for a pipe moving robot.

The launcher of the pipe moving robot according to an aspect of the present invention includes a housing in which a space in which the pipe moving robot is accommodated is formed and is located at one side of the pipe to which the pipe moving robot is loaded or taken out; And a transfer part coupled to a lower portion of the housing to transfer the housing.

The housing may include a plurality of first and second flanges provided at both ends of the pipe moving robot in the inlet or outlet direction, and connected to the first and second flanges to support the first and second flanges. At least one cover portion coupled between the pipe member and the first and second flanges and provided to shield an inner space, and is connected to the pipe member to support the outside of the cover portion and to move the pipe. The coupling part for fixing the robot may include an intermediate support.

In addition, it may further include a clamping ring provided on one side of the pipe member.

The intermediate support part may include a plurality of intermediate connection parts coupled to the pipe member, and a fixing unit coupled between the intermediate connection parts and extending to support one side of the pipe moving robot.

In addition, the transfer unit may include a frame for supporting the lower portion of the housing, a rolling wheel provided in the lower portion of the frame, and a plurality of clamps for coupling the frame and the housing.

In addition, the launcher for the pipe moving robot of the present embodiment may further include a lifting part which is adjusted in height and angle so that the housing separated from the transfer part is coupled and positioned at one side of the pipe.

In addition, further comprising a clamping ring provided on one side of the housing, the lifting portion is provided with a hoist for lifting the housing via a connecting member connected to the clamping ring provided on one side of the housing, the hoist It may include a number of supports.

In addition, the lifting unit may be provided to select the connecting member connected to the front of the housing and the length of the connecting member connected to the rear of the housing to adjust the inclination of the housing.

In addition, the lifting portion includes a support portion supported on the work surface, a support portion provided in the support portion provided in multiple stages to be stretchable by fluid pressure, and a frame installed on the support portion is coupled to support the housing can do.

The lifting unit may further include a rotation fixing unit provided to adjust an angle between the support unit and the frame.

In addition, the inlet side of the housing may further include an extension pipe for guiding the carrying in or out of the pipe moving robot.

In addition, the extension pipe may be formed to be bent at a predetermined angle.

The apparatus may further include a drain hole formed under the extension pipe, and further include a drain storage part connected to the drain hole.

The apparatus may further include a winch module provided on one side of the housing and connected to the pipe moving robot via a wire to wind up the wire when the pipe moving robot is collected.

In addition, it may further include a guide roller provided on one side of the housing to guide the movement of the hose connected to the pipe movement robot.

According to an embodiment of the present invention, the pipe moving robot can be moved or facilitated storage, and the pipe moving robot can be easily positioned at the inlet for carrying in or taking out the pipe, thereby bringing in and taking out the pipe moving robot. It is easy to carry out, and depending on the piping situation, it is easy to import / export to the pipe installed in the low place or the pipe installed in the high place.

1 is a perspective view of a pipe moving robot mounted on a launcher for a pipe moving robot according to an embodiment of the present invention.

Figure 2 is a perspective view showing a launcher for a pipe moving robot according to an embodiment of the present invention.

Figure 3 is a perspective view showing the separation of the housing of the mobile robot launcher according to an embodiment of the present invention.

Figure 4 (a) and (b) is a plan view and a cross-sectional view showing a part of the launcher for the pipe moving robot according to an embodiment of the present invention.

Figure 5 is a cross-sectional view of the launcher accommodating the pipe moving robot according to an embodiment of the present invention.

Figure 6 is a perspective view of the moving portion of the launcher for a pipe moving robot according to an embodiment of the present invention.

Figure 7 is a perspective view showing a lifting part of the launcher for a mobile pipe moving robot according to an embodiment of the present invention.

Figure 8 is a perspective view showing the separation of the lifting portion of the launcher for the pipe moving robot according to an embodiment of the present invention.

Figure 9 is a perspective view showing a lifting part of the launcher for a pipe moving robot according to another embodiment of the present invention.

Figure 10 is a perspective view showing a separate lifting portion of the launcher for the mobile pipe movement according to another embodiment of the present invention.

Figure 11 (a) to (c) is a perspective view of the extension pipe is installed in the inlet of the launcher for the pipe moving robot according to another embodiment of the present invention.

12 is a perspective view illustrating a drain hole of a launcher for a pipe moving robot according to another embodiment of the present invention.

Hereinafter, with reference to the accompanying drawings an embodiment of the present invention will be described in detail. Embodiments of the present invention may be modified in various other forms, and the scope of the present invention is not limited to the embodiments described below. Shapes and sizes of the elements in the drawings may be exaggerated for clarity, elements denoted by the same reference numerals in the drawings are the same elements.

1 is a perspective view of a pipe moving robot mounted on a launcher for a pipe moving robot according to an embodiment of the present invention. In addition, Figure 2 is a perspective view showing a launcher for a pipe moving robot according to an embodiment of the present invention, Figure 3 is a perspective view showing the housing of the launcher for a pipe moving robot according to an embodiment of the present invention, (A) and (b) of Figure 4 is a plan view and a cross-sectional view showing a part of the launcher for the mobile pipe moving according to an embodiment of the present invention, and Figure 5 is a pipe moving robot according to an embodiment of the present invention This is a sectional view of the accommodated launcher.

1 to 5, the launcher 100 for a pipe moving robot of the present embodiment is a device for mounting a pipe moving robot 10 to move along the inside of the pipe to clean the foreign matter. The pipe moving robot 10 may include a hose 12 connected to suck foreign matter and discharge it to the outside when cleaning the inside of the pipe.

In this embodiment, the launcher 100 for the pipe moving robot may include a housing 110 in which a space in which the pipe moving robot 10 is accommodated is formed. The housing 110 may be provided in a cylindrical shape and may be located at one side of the pipe so that the pipe moving robot 10 may be carried in or out of the internal space.

The housing 110 may include a first flange 112 and a second flange 114 provided at both ends of the pipe moving robot 10 in the loading or unloading direction. In one example, the first flange 112 may be provided at the front of the inlet of the housing 110, the second flange 114 may be provided at the rear of the housing 110.

In addition, a plurality of pipe members 116 may be penetrated between the first flange 112 and the second flange 114 to fix the first flange 112 and the second flange 114.

In this case, the pipe member 116 may serve as a handle for fixing the first flange 112 and the second flange 114 together with a handle for easily holding the housing 110 during transportation.

In addition, the second flange 112 may be provided with an air wiper for injecting air in order to remove foreign matters, etc. in the process of the pipe moving robot 10 to inspect or clean the pipe.

The air wiper is supplied with high pressure air from the outside through the gas socket 118a connected to the first flange 112, and this air is supplied to the hose 12 of the pipe moving robot 10 through the first flange 112. Can be sprayed. The pipe moving robot 10 may be contaminated by foreign matters on the hose 12 while moving inside the pipe. Therefore, the pipe moving robot 10 passes through the air wiper in the process of being accommodated in the housing 110, and at this time, high-pressure air is injected from the gas socket 118a connected to the first flange 112, and the hose 12 is disposed. Remove foreign substances on the

In addition, at least one cover part 120 may be provided between the first flange 112 and the second flange 114 to shield the internal space. Preferably, the cover part 120 may be dividedly provided to be positioned between the pipe members 116. For example, in the present embodiment, the pipe member 116 may be provided at four locations, and the cover part 120 may be divided into four parts between the pipe members 116.

In addition, the cover part 120 in the present embodiment shields between the first flange 112 and the second flange 114, both ends are bent to the first flange 112 or the second flange 114, such as bolts It can be combined as a fastening member of.

The cover part 120 is formed of a woven form of carbon fiber having excellent non-stiffness and non-strength characteristics due to the safe storage, transportation, and expansion of development installation of the pipe moving robot 10 accommodated in the housing 110. GFRP (Graphite Fiber Reinforced Composite) lightweight composite material can be used.

In addition, an intermediate support 130 may be provided between the first flange 112 and the second flange 114 so as to pass through the pipe member 116. The intermediate support part 130 may be provided to surround the outside of the cover part 120 and may be provided to fix the pipe moving robot 10 accommodated therein.

To this end, the intermediate support 130 is fixed between the plurality of intermediate connecting portion 132 coupled to the pipe member 116 and the intermediate connecting portion 132 is extended to support one side of the pipe moving robot 10. Unit 134 may be included.

The fixing unit 134 is coupled between the intermediate connecting portion 132 and the fixing part main body 135 formed with a spiral groove on one side, and is coupled to the spiral groove of the fixing part main body 135 to connect one side of the pipe moving robot 10. It may include a fixing bolt 136 to be advanced to support. Preferably, the end of the fixing bolt 136 may be provided with a fixing plate for increasing the contact force with the pipe moving robot (10).

In the present embodiment, the fixing unit 134 has been described as fixing or releasing the fixing bolt 136 spirally fastened to the fixing unit body 135 and fixing the pipe moving robot 10, but the fixing unit 134 The structure is not limited and may be replaced by various means capable of freely fixing or releasing the pipe moving robot 10.

In addition, one side of the housing 110, for example, the rear of the housing 110, when the pipe moving robot 10 is unable to move due to failure or failure, such as uncontrollable, in order to rescue the pipe moving robot 10 A recovery unit for forcibly recovering the pipe moving robot 10 may be provided.

The recovery unit may include a winch module 140 provided at one side of the housing 110 and connected to the pipe moving robot 10 via a wire. The winch module 140 may be connected to one side of, for example, the rear of the pipe moving robot 10, and may be controlled to be freely unwound or wound by maintaining a constant tension of the wire during normal operation of the pipe moving robot 10.

In addition, the winch module 140 may recover the pipe moving robot 10 by forcibly winding a wire when the pipe moving robot 10 fails to operate normally due to a failure or a failure and falls into an uncontrollable state. This may prevent damage to the pipe due to abnormal operation of the pipe moving robot 10 or inconvenience to repair the pipe to recover the pipe moving robot (10).

In addition, in the present embodiment, the pipe moving robot 10 may include a hose 12 connected to suck the foreign matter and discharge it to the outside when cleaning the inside of the pipe.

In this case, the hose 12 may sag downward due to the inclination of the housing 110 in which the pipe moving robot 10 is accommodated or the self weight of the hose 12, and the housing 110 due to the sagging of the hose 12. In order to minimize interference with the guide 110, a guide roller 145 for guiding the movement of the hose 12 may be installed on the second flange 114 located at one side of the housing 110, for example, the rear side.

Referring to FIG. 6, the launcher 100 for a pipe moving robot according to the present embodiment may move while the pipe moving robot 10 is accommodated by an operator while holding the pipe member 116, and for housing of a long distance moving. A transport unit 150 for transport may be coupled to the lower portion of the 110.

The transfer unit 150 may include a frame 152 provided in a form capable of supporting a lower portion of the housing 110, and the lower portion of the frame 152 may have a rolling wheel 154 moveable with respect to the working surface. Can be provided.

In addition, the transfer unit 150 may be provided with a plurality of clamps 156 coupling the frame 152 and the housing 110 to stably maintain the state in which the housing 110 is coupled. Preferably, the clamp 156 may be provided between the intermediate support 130 of the housing 110 and the frame 152. For example, the clamp 156 used in the present embodiment may be a clutch lever, and minimizes play between the housing 110 and the frame 152 to prevent slippage and to cushion shocks generated during engagement. An elastic pad 158 may be provided to enable it.

7 is a perspective view showing a lifting part of the launcher for a pipe moving robot according to an embodiment of the present invention, Figure 8 is a perspective view showing a separate lifting portion of the launcher for a pipe moving robot according to an embodiment of the present invention.

Referring to FIGS. 7 and 8, the launcher 100 for the pipe moving robot of the present embodiment adjusts the height and angle of the housing 110 to inject the pipe moving robot 10 at various positions according to the height or angle of the pipe. It may include a lifting unit 200.

The launcher 100 for the pipe moving robot may be adjusted in height and angle so as to be positioned at the inlet of the pipe by the lifting unit 200, and thus the pipe moving robot 10 may be stably brought in or taken out without cutting off the pipe. have.

The lifting unit 200 may include a plurality of supports 202 connected to be opened at a predetermined angle. In addition, the lifting unit 200 may include a connecting member 202 connected to one side of the housing 110, and the connecting member 202 is connected to the hoist 206 installed on the plurality of supports 202. To be wound according to the operation of the hoist 206 and to raise or lower the housing 110.

The support 202 may be provided in a slit form so that the hoist 206 does not interfere when the housing 110 is raised or lowered. For example, the support 202 may be provided in a form having four legs, and each support 202 may be provided. The height can be provided to be able to adjust the height to vary the use height with ease of carrying and storage.

Preferably, the lifting unit 20 may be connected to the left and right sides of the front of the housing 110 and the left and right both sides of the connecting member 204, the connecting member 204 is directly connected to the hoist 206 or It may be connected to the hoist 206 via a separate other connection.

In addition, in the present embodiment, the connecting members 204 connected to the front left and right sides and the rear left and right sides of the housing 110 are provided to select a length, and the housing 110 according to the length of the connecting member 204. ) You can adjust the angle of inclination.

That is, the lifting unit 20 may adjust the height of the housing 110 by winding or unwinding the connecting member 204 using the hoist 206, and each connecting member 204 connected to the housing 110. By adjusting the length of the inclination angle of the housing 110 can be adjusted.

More preferably, a clamping ring 111 may be provided on each of the pipe members 116 located on both the left and right sides of the front of the housing 110 and the left and right sides of the rear, and the clamping ring 111 may be provided with a hoist 206. Connection member 204 connected to the may be coupled.

In one example, the connection member 204 may be provided in the form of a chain, wire or chain.

In the present embodiment, the lifting unit 200 may be modified in various forms in addition to the method using the hoist 206 and the connecting member 204.

The present invention is not limited to the above-described embodiment and the accompanying drawings, and it is possible to substitute, modify, and change various forms within the scope of the technical spirit of the present invention described in the claims. It will be self-evident to those who have knowledge.

FIG. 9 is a perspective view illustrating a lifting unit of a pipe moving robot launcher according to another embodiment of the present invention, and FIG. 10 is a perspective view separately showing a lifting unit of the pipe moving robot launcher according to another embodiment of the present invention.

9 and 10, the lifting unit 250 may be provided to be moved to a high position in order to put the pipe moving robot 10 in the pipe installed in a high place, for this purpose lifting unit 250 is It may include a support portion 252 supported on the surface, and the support portion 254 is installed on the support portion 252.

Here, the support portion 254 may be provided in multiple stages to be stretchable by the fluid pressure. Preferably, in the present embodiment, the support portion 254 is connected to a pneumatic cylinder which is easy to carry and is expanded and contracted according to the supply of pneumatic pressure, and can elevate the housing 110.

In addition, an end portion of the support 254 may be provided with a frame 256 coupled to support the housing 110.

After the housing 110 is separated from the transfer unit 150, the housing 110 may be seated on the frame 256 provided in the support 254 and may be held by a plurality of clampings 258.

Preferably, the rotation fixing part 260 is provided between the support portion 254 and the frame 256 so as to freely set the angle of the frame 256, and through the operation control of the

rotation fixing part

260, 256 and the housing 110 seated on the frame 256 can be angled to match the inlet direction of the pipe.

Rotation fixing unit 260 may be adjusted in the position installed in the frame 256 to maintain the center of gravity according to the inclined angle of the housing (110). At this time, the position of the rotation fixing unit 260 may vary depending on the inclination angle of the housing 110 and the weight, size, etc. of the housing 110 or the pipe moving robot 10 and the like.

11 (a) to 11 (c) are perspective views in which an extension pipe is installed at an inlet of a launcher for a pipe moving robot according to another embodiment of the present invention.

Referring to FIG. 11, in the present embodiment, an extension pipe 270 may be further installed at the inlet side of the housing 110 to guide the loading or unloading of the pipe moving robot 10.

The extension pipe 270 is formed to correspond to the inlet of the pipe, it may be provided in a horizontal or curved form with respect to the inlet of the pipe to facilitate the carrying in or out of the pipe moving robot (10).

For example, in the present embodiment, the extension pipe 270 may be provided as a straight pipe having a predetermined length, and the extension pipe 270a bent at an angle of 45 degrees shown in FIG. It may be provided as an extension pipe 270b bent at an angle of 30 degrees shown in b) or an extension pipe 270c extending in a straight line without bending shown in (c) of FIG. 11.

Referring to FIG. 12, a drain hole 272 may be provided at a lower portion of the extension pipe 270 for discharging foreign matters, etc. buried in the process of carrying in or out of the pipe moving robot 10. For example, the drain hole 272 may be provided at the lower portion of the extension pipe 270, and may collect foreign substances and discharge them to the lower portion.

In addition, a drain storage unit 280 may be connected to a lower portion of the extension pipe 270 to collect or store foreign substances discharged through the drain hole 272.

The drain storage unit 280 may be directly installed at the lower portion of the extension pipe 270, and may be connected through the corrugated pipe 274.

Preferably, the drain hole 272 formed in the extension pipe 270 may be formed larger than the diameter of the corrugated pipe 274, and the drain connection member narrowing in diameter, such as a funnel, between the corrugated pipe 274 and the corrugated pipe 274. (276) may be provided, thereby collecting and discharging the foreign matter more effectively.

Claims

A space in which a pipe moving robot is accommodated, the housing being located at one side of the pipe to which the pipe moving robot is brought in or taken out; And

A transfer unit coupled to a lower portion of the housing to transfer the housing;

Launcher for pipe moving robot comprising a.
The method of claim 1, wherein the housing

First and second flanges provided at both ends of the pipe moving robot in an inlet or outlet direction;

A plurality of pipe members connected to the first and second flanges to support the first and second flanges;

At least one cover part coupled between the first and second flanges and provided to shield an inner space;

And a middle support part connected to the pipe member to support the outside of the cover part and to fix the pipe moving robot accommodated therein.
The method according to claim 2,

Launcher for a pipe moving robot further comprises a clamping ring provided on one side of the pipe member.
The method according to claim 2,

The intermediate support portion

A plurality of intermediate connections coupled to the pipe member;

Is coupled between the intermediate connection, the launcher for pipe moving robot comprising a fixed unit extending to support one side of the pipe moving robot.
The said conveying part is a method of any one of Claims 1-4.

A frame supporting a lower portion of the housing;

Cloud wheel provided in the lower portion of the frame,

Launcher for pipe moving robot including a plurality of clamps for coupling the frame and the housing.
The launcher according to any one of claims 1 to 4, further comprising a lifting unit which is coupled to the housing separated from the transfer unit and is adjusted in height and angle so as to be positioned at one side of the pipe.
The method of claim 6, wherein the lifting unit

A hoist for lifting the housing through a connecting member connected to one side of the housing;

Launcher for pipe moving robot comprising a plurality of supports provided to support the hoist.
The method of claim 7, wherein the lifting unit

And a connecting member connected to the front of the housing and a length of the connecting member connected to the rear of the housing to adjust the inclination of the housing.
The method of claim 6, wherein the lifting unit

A supporting part supported on the working surface,

A support portion provided in the support portion and provided in multiple stages to be stretchable by fluid pressure;

The launcher for a pipe moving robot including a frame installed on the support and coupled to support the housing.
The method of claim 9, wherein the lifting unit

Launcher for a pipe moving robot further comprises a rotation fixing portion provided to adjust the angle between the holding portion and the frame.
The method according to any one of claims 1 to 4,

And an extension pipe installed at an inlet side of the housing to guide the carrying in or taking out of the pipe moving robot.
The method according to claim 11,

The extension pipe is a launcher for a pipe moving robot is formed by bending at a predetermined angle.
The method according to claim 11,

Further comprising a drain hole formed in the lower portion of the extension pipe,

The launcher for a pipe moving robot further comprising a drain storage portion connected to the drain hole.
The method according to any one of claims 1 to 4,

And a recovery unit provided on one side of the housing to forcibly recover the pipe moving robot when the pipe moving robot cannot be controlled.
The method according to claim 14, wherein the recovery unit

And a winch module provided at one side of the housing and connected to the pipe moving robot via a wire to wind up the wire when the pipe moving robot is collected.
The method according to any one of claims 1 to 4,

Provided on one side of the housing launcher for a pipe moving robot further comprises a guide roller for guiding the movement of the hose connected to the pipe moving robot.