WO2018151511A1 - Robot se déplaçant dans un tuyau - Google Patents

Robot se déplaçant dans un tuyau Download PDF

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Publication number
WO2018151511A1
WO2018151511A1 PCT/KR2018/001900 KR2018001900W WO2018151511A1 WO 2018151511 A1 WO2018151511 A1 WO 2018151511A1 KR 2018001900 W KR2018001900 W KR 2018001900W WO 2018151511 A1 WO2018151511 A1 WO 2018151511A1
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WO
WIPO (PCT)
Prior art keywords
pipe
driving
carriage
power
braking
Prior art date
Application number
PCT/KR2018/001900
Other languages
English (en)
Korean (ko)
Inventor
이무림
강병권
김기선
박수종
최철훈
Original Assignee
삼성중공업 주식회사
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Priority claimed from KR1020170020110A external-priority patent/KR20180093678A/ko
Priority claimed from KR1020170085571A external-priority patent/KR102041608B1/ko
Priority claimed from KR1020170085952A external-priority patent/KR102018670B1/ko
Application filed by 삼성중공업 주식회사 filed Critical 삼성중공업 주식회사
Priority to JP2019543923A priority Critical patent/JP6863656B2/ja
Priority to CN201880025018.3A priority patent/CN110520253B/zh
Priority to SG11201907478TA priority patent/SG11201907478TA/en
Publication of WO2018151511A1 publication Critical patent/WO2018151511A1/fr

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Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J11/00—Manipulators not otherwise provided for
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J5/00—Manipulators mounted on wheels or on carriages
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/10—Programme-controlled manipulators characterised by positioning means for manipulator elements
    • B25J9/12—Programme-controlled manipulators characterised by positioning means for manipulator elements electric
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/16—Programme controls
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16L—PIPES; JOINTS OR FITTINGS FOR PIPES; SUPPORTS FOR PIPES, CABLES OR PROTECTIVE TUBING; MEANS FOR THERMAL INSULATION IN GENERAL
    • F16L55/00—Devices or appurtenances for use in, or in connection with, pipes or pipe systems
    • F16L55/18—Appliances for use in repairing pipes
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16L—PIPES; JOINTS OR FITTINGS FOR PIPES; SUPPORTS FOR PIPES, CABLES OR PROTECTIVE TUBING; MEANS FOR THERMAL INSULATION IN GENERAL
    • F16L55/00—Devices or appurtenances for use in, or in connection with, pipes or pipe systems
    • F16L55/26—Pigs or moles, i.e. devices movable in a pipe or conduit with or without self-contained propulsion means
    • F16L55/28—Constructional aspects
    • F16L55/30—Constructional aspects of the propulsion means, e.g. towed by cables
    • F16L55/32—Constructional aspects of the propulsion means, e.g. towed by cables being self-contained
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16L—PIPES; JOINTS OR FITTINGS FOR PIPES; SUPPORTS FOR PIPES, CABLES OR PROTECTIVE TUBING; MEANS FOR THERMAL INSULATION IN GENERAL
    • F16L55/00—Devices or appurtenances for use in, or in connection with, pipes or pipe systems
    • F16L55/26—Pigs or moles, i.e. devices movable in a pipe or conduit with or without self-contained propulsion means
    • F16L55/28—Constructional aspects
    • F16L55/40—Constructional aspects of the body

Definitions

  • the present invention relates to an internal pipe traveling robot that travels inside a pipe.
  • Conventional robots include electric motors and electric cables for driving wheels or rollers.
  • the use of electric motors and cables is limited in piping such as high temperature, high pressure piping or gas pipes for power plants due to the risk of explosion by electric sparks. Therefore, there is a need for a mobile robot of an improved structure that can be driven by a power source other than an electric drive means for exploration inside the pipe which is at risk of explosion.
  • the pipes take the form of ellipses rather than full circles.
  • the piping is connected to a number of accessories such as 90 ° elbow, 45 ° elbow, tee and reducer to form a piping system.
  • the robot is required to travel in a straight line through the open part of the lower part of the piping system connected to the bottom view T pipe or to bend to the open part.
  • embodiments of the present invention is to provide a pipe inside the traveling robot that can move inside the complex pipe.
  • a braking circuit for forming a braking force to provide a traveling robot inside the pipe that can ensure a sufficient braking force while removing or minimizing the braking device of the travel robot.
  • Inner pipe driving robot supports the front and rear carriage that can travel along the pipe inner wall to support the inner wall of the pipe, and connects between the front carriage and the rear carriage and the holder is adjustable flexibility do.
  • the holder may include an air cell whose internal pressure is changed by injecting or discharging air, and flexibility may be adjusted according to the internal pressure of the air cell.
  • the air cell may include a first air cell installed adjacent to the front carriage and a second air cell installed adjacent to the rear carriage, and the first air cell and the second air cell may be spaced apart from each other.
  • the holder may be provided between the first air cell and the second air cell, and may include a plurality of support rollers spaced apart along the outer side of the holder.
  • the holder When passing through the curved tube, the holder may be flexible so that the front carriage and the rear carriage travel the curved tube.
  • the holder may be hardened so that the front carriage and the rear carriage travel in a straight line.
  • the roller unit may include a driving roller connected to the front end of the first link and a driving roller connected to the driving motor, and an auxiliary roller connected to the front end of the second link.
  • a drive motor that provides power to the front carriage and the rear carriage by receiving power from an external power source, moves the pipe together with the front carriage and the rear carriage, and the current between the external power source and the drive motor by the operation of a switch.
  • the power source is operated by connecting the internal power source by connecting the internal power source. It may include a control unit for compensating the power provided to the drive motor.
  • the external power source is fixed at a point outside the pipe, and the driving motor may receive power from the external power source through a power cable constituting at least a portion of the current path.
  • a voltage measuring unit measuring a voltage provided to the driving motor, wherein the controller is configured to connect the internal power supply when a voltage deviation between the voltage measured by the voltage measuring unit and the target voltage according to the target power occurs.
  • the voltage deviation value can be compensated for.
  • the apparatus may further include a current measuring unit configured to measure a current provided to the driving motor, and the controller may determine the target voltage based on a relationship between the current measured by the current measuring unit and the target power.
  • the controller may connect the internal power supply when the voltage deviation is greater than or equal to the reference voltage value, and determine that the reference voltage value is smaller as the measured current is larger.
  • a drive motor that receives power from an external power source and provides a driving force to the front and rear carriages, a drive circuit including the external power source and selectively connected to the drive motor, a braking circuit selectively connected to the drive motor, and the And a control unit for controlling any one of a driving circuit and a braking circuit to the connection state with the driving motor, wherein the control unit controls the driving circuit in the connection state in the driving modes of the front carriage and the rear carriage, In the braking mode, the braking circuit can be controlled in a connected state.
  • Both ends of the driving motor may be provided with a control switch selectively connected to any one of the driving circuit and the braking circuit, and the controller may control the control switch to control the connection state of the driving circuit and the braking circuit.
  • the braking circuit may include a resistance line including a resistor unit and a non-resistance line in a short circuit state in parallel, and a resistance switch connecting one of the resistance line and the non-resistance line between the anodes of the driving motor may be provided.
  • the control unit connects the resistance line in the braking circuit when the speed of the front carriage and the rear carriage is greater than or equal to the reference speed in the braking mode of the braking mode.
  • the controller may connect the resistive line in the braking circuit regardless of the speeds of the front carriage and the rear carriage in the braking mode of the braking mode.
  • the resistor unit may include an NTC device having a lower resistance value as the temperature increases.
  • the resistor unit includes a variable resistor whose resistance is adjusted by the controller and the NTC element are arranged in series, and the driving motor is connected to the driving circuit and the braking circuit through a power cable, and the variable resistor is the length of the power cable. The longer is, the smaller the resistance value can be adjusted.
  • Embodiments of the present invention can easily move inside the complex pipe connection.
  • FIG. 1 is a perspective view showing an internal pipe traveling robot according to an embodiment of the present invention.
  • FIG. 2 is a perspective view illustrating a carriage applied to FIG. 1.
  • FIG. 3 is a perspective view illustrating a holder applied to FIG. 1.
  • Figure 4 is a view showing a state traveling in the downward direction to the bottom view T pipe of the internal pipe traveling robot according to an embodiment of the present invention.
  • FIG 5 is a view showing a state running in a straight line across the lower view T pipe of the internal pipe running robot according to an embodiment of the present invention.
  • FIG. 6 is a view schematically showing a state in which a traveling robot inside a pipe according to an embodiment of the present invention is connected to an internal power source and a power cable and located inside the pipe.
  • FIG. 7 is a view schematically illustrating a power circuit diagram in which an internal power source is provided in a traveling robot inside a pipe according to an embodiment of the present invention.
  • FIG. 8 is a view schematically illustrating a circuit related to a driving motor in which a braking circuit is provided in a pipe running robot according to an embodiment of the present invention.
  • FIG. 1 is a perspective view showing an internal pipe traveling robot according to an embodiment of the present invention.
  • the inside of the pipe traveling robot 100 may include a carriage 10 and a holder 20.
  • the internal pipe traveling robot 100 may be used for the purpose of inspecting the inside of the pipe.
  • a camera (not shown) may be installed in the traveling direction of the pipe internal traveling robot 100.
  • the carriage 10 includes a front carriage 10a and a rear carriage 10b.
  • the inner pipe traveling robot 100 may travel while supporting the inner wall of the pipe 200 with the carriage 10.
  • the holder 20 is located between the front carriage 10a and the rear carriage 10b, and connects the front carriage 10a and the rear carriage 10b with each other. Holder 20 may be changed in length and internal pressure by the injection of air.
  • control unit 90 may inject or discharge air into the holder 20 to make the holder 20 flexible, or the holder 20 may be hardened. have.
  • the holder 20 is flexible to mean a state in which the relative positions are variable so that the longitudinal directions of the front carriage 10a and the rear carriage 10b may be different from each other, and that the holder 20 is rigid means that the front carriage ( It means a state in which the relative position or the longitudinal direction between 10a) and the rear carriage 10b is fixed.
  • the front carriage (10a) or the rear carriage (10b) can be supported or fixed to the rear carriage (10b) or front carriage (10a) through the holder 20 can be moved. have.
  • the pipe internal traveling robot 100 having the carriage 10 and the holder 20 in which the state can be changed may correspond to the change in the diameter of the pipe 200, and passes through the curved pipe or the lower-view T pipe 210. You can drive straight. At this time, the flexibility and the length of the holder 20 can be varied, thereby changing the relative longitudinal direction or the distance between the front carriage and the rear carriage.
  • FIG. 2 is a perspective view illustrating a carriage applied to FIG. 1.
  • the carriage 10 may include an air cylinder 12, a plate portion 11, and a link portion 13.
  • the carriage 10 may be supported by the inner wall of the pipe 200 to travel, and may be spaced apart from the inner wall of the pipe 200.
  • the carriage 10 includes an air cylinder 12. Air may be introduced or discharged into the air cylinder 12, and thus the air cylinder 12 may be expanded or contracted in length.
  • the controller 90 may determine the relative position restraint between the front carriage 10a and the rear carriage 10b by adjusting the flexibility of the holder 20.
  • the air cylinders 12 of the front carriage 10a and the rear carriage 10b may be controlled by a controller or the like, respectively.
  • air may be introduced into the air cylinder 12 of the front carriage 10a and air may be discharged to the air cylinder 12 of the rear carriage 10b.
  • the front carriage 10a is supported by the inner wall of the pipe 200 and can run, and the rear carriage 10b is spaced apart from the inner wall of the pipe 200 and cannot travel.
  • the rear carriage 10b may move inside the pipe 200 by being towed by the driving of the front carriage 10a.
  • the plate portion 11 includes a first plate 11a and a second plate 11b.
  • the first plate 11a may be connected to the rear end of the air cylinder 12.
  • the second plate 11b is connected to the first plate 11a and the guide post 16 and may be connected to and fixed to an end of the guide post 16.
  • the separation distance from the second plate 11b may be changed by the expansion or contraction of the air cylinder 12.
  • the first plate 11a is connected to the rear end of the air cylinder 12, and the guide post 16 is positioned between the first plate 11a and the second plate 11b, and the first plate 11a. 11a and the second plate 11b are connected to each other outside.
  • the first plate 11a installed at the rear end of the air cylinder 12 is movable by the expansion and contraction of the air cylinder 12 along the guide post 16.
  • the second plate 11b provided at the end of the guide post 16 is fixed.
  • the first plate 11a installed at the rear end of the air cylinder 12 moves along the guide post 16.
  • a surface of the first plate 11a and the second plate 11b facing each other may include a link part 13 installed to rotate.
  • the link portion 13 includes a first link 13a and a second link 13b and is installed on the first plate 11a and the second plate 11b, respectively.
  • first link 13a is installed on the first plate 11a and the second link 13b is installed on the second plate 11b, and the first link 13a and the second link 13b are provided. May be connected to an X character. Accordingly, the link portion 13 may vary in length in the direction perpendicular to the carriage 10 according to the separation distance between the first plate 11a and the second plate 11b.
  • the separation distance between the first plate 11a and the second plate 11b may be narrowed to adjust the link portion 13 to contact the inner wall of the pipe 200. have.
  • the distance between the first plate 11a and the second plate 11b may be increased to adjust the link portion 13 to contact the inner wall of the pipe 200. have.
  • a plurality of link portions 13 including the first link 13a and the second link 13b connected to the X letter may be provided along the outer circumferential surface of the plate portion 11.
  • three or more link portions 13 may be installed on the outer circumferential surface of the plate portion 11 at regular intervals. Through this, the carriage 10 may be more stably supported on the inner wall of the pipe 200 to be positioned at the inner center.
  • the roller portion 14 may be connected to the front end of the link portion 13.
  • the roller unit 14 may contact the inner wall of the pipe 200 to drive the carriage 10.
  • the link portion 13 may contact the inner wall of the pipe 200 via the roller portion 14.
  • the link part 13 may be supported by the inner wall of the pipe 200 by pressing the roller part 14.
  • the roller unit 14 may include a driving roller 14a and an auxiliary roller 14b.
  • the driving motor 15 may be connected to the driving roller 14a.
  • the driving roller 14a may be connected to the tip of the first link 13a.
  • the driving motor 15 may be connected to the driving roller 14a and connected to the side of the first link 13a.
  • the auxiliary roller 14b may be installed in the second link 13b.
  • the auxiliary roller 14b may guide the carriage 10 so that the carriage 10 can run stably without being separated from the inner wall of the pipe 200. Can be.
  • FIG. 3 is a perspective view illustrating a holder applied to FIG. 1.
  • the holder 20 may be positioned between the front carriage 10a and the rear carriage 10b and connect the front carriage 10a and the rear carriage 10b to each other.
  • the holder 20 may include an air cell 22 whose length and pressure are changed by the injection or discharge of air through the control of the controller 90. Accordingly, the holder 20 can be flexibly or rigidly connected between the front carriage 10a and the rear carriage 10b.
  • the holder 20 injects air into the air cell 22 to increase the internal pressure
  • either the front carriage 10a or the rear carriage 10b which is not supported by the inner wall of the pipe 200 is The pipe 200 may be fixed to or supported by the rear carriage 10b or the front carriage 10a supported by the inner wall. That is, the holder 20 may transmit a bearing force between the front carriage 10a and the rear carriage 10b.
  • the holder 20 is an air cell 22. The internal pressure is reduced by releasing air from the air.
  • the holder 20 may be flexible, and the length of the holder 20 may also change according to a change in the relative position of the front carriage 10a and the rear carriage 10b.
  • the holder 20 may include a plurality of air cells 22.
  • it may include a first air cell 22a installed adjacent to the front carriage 10a and a second air cell 22b installed adjacent to the rear carriage 10b.
  • the first air cell 22a and the second air cell 22b may be spaced apart from each other.
  • the holder 20 including the plurality of air cells 22 may adjust the flexibility in stages by injecting or discharging air into one of the air cells 22.
  • the controller 90 discharges air from the first air cell 22a to lower the internal pressure, and when the front carriage 10a completely enters the curved tube, The air pressure of the air cell 22b may be discharged to lower the internal pressure, and the air may be injected into the first air cell 22a to increase the internal pressure to further improve the traction force.
  • the support roller 23 may be connected between the first air cell 22a and the second air cell 22b.
  • the support rollers 23 may be connected in the radial direction of the first air cell 22a and the second air cell 22b and spaced apart in the circumferential direction.
  • the support roller 23 When the holder 20 is changed into a flexible state due to the injection or discharge of air into the first air cell 22a and the second air cell 22b, the support roller 23 has the holder 20 removed from the pipe 200. It can be assisted to be easily moved.
  • Figure 4 is a view showing a state traveling in the downward direction to the bottom view T pipe of the internal pipe traveling robot according to an embodiment of the present invention.
  • the internal pipe traveling robot 100 may move in the open downward direction of the lower view T pipe 210.
  • the present invention is not limited thereto, and the pipe driving robot 100 may move the curved pipe.
  • the front carriage 10a supported on the inner wall of the pipe 200 while moving in the running direction of the pipe inner traveling robot 100 is adjacent to the open downward direction of the downward view T pipe 210 while supporting force of the open area. This will naturally bend in the downward direction.
  • control unit 90 is the first air cell 22a of the holder 20 to discharge the air and lower the internal pressure so that the front carriage 10a can be bent downward.
  • the front carriage 10a is moved deeper and further downward, and comes into contact with and supports the inner wall of the pipe 200 connected downward.
  • the rear carriage 10b moves along the movement path of the front carriage 10a, and the second air cell 22b discharges air to lower the rear carriage 10b and lowers the internal pressure.
  • the support roller 23 of the holder 20 may assist to smoothly move the curved inner traveling robot 100 in contact with the inner wall of the lower view T pipe (210).
  • the first air cell 22a raises the internal pressure before the second air cell 22b and may improve the traction force.
  • FIG 5 is a view showing a state running in a straight line across the lower view T pipe of the internal pipe running robot according to an embodiment of the present invention.
  • the inner pipe traveling robot 100 is supported by the front carriage 10a and the rear carriage 10b on the inner wall of the pipe 200 to be driven by the driving roller 14a. Air is injected into the holder 20 to increase the internal pressure of the holder 20.
  • the link portion 13 of the front carriage 10a is spaced apart from the inner wall of the pipe 200. For example, by discharging air to the air cylinder 12 of the front carriage 10a, the first plate 11a and the second plate 11b of the air cylinder 12 are separated from each other, so that the link portion 13 is opened.
  • the pipe 200 may be spaced apart from the inner wall.
  • the inner pipe traveling robot 100 is supported on the inner wall of the pipe 200 by the rear carriage 10b, and travels in the traveling direction by the rear carriage 10b.
  • the front carriage 10a supported by the rear carriage 10b may move in a straight line through the open lower portion of the lower view T pipe 210. Thereafter, the front carriage 10a injects air into the air cylinder 12 to move the link portion 13 toward the inner wall of the pipe 200 to contact the roller portion 14. The front carriage 10a may be supported by the inner wall of the pipe 200 to travel.
  • the rear carriage 10b spaces the link portion 13 from the inner wall of the pipe 200.
  • the air is discharged to the air cylinder 12 of the rear carriage 10b so that the first plate 11a and the second plate 11b are spaced apart from each other so that the link portion 13 is connected to the inner wall of the pipe 200. Can be spaced apart.
  • the rear carriage 10b is supported by the front carriage 10a to travel past the open lower portion of the lower view T pipe 210.
  • the holder 20 injects air when the traveling robot 100 passes through the open lower portion of the bottom view T pipe 210 to greatly increase the internal pressure and keeps it tight. As such, by changing the properties of the holder 20 rigidly or flexibly, the pipe internal traveling robot 100 can travel through the open lower portion of the lower view T pipe 210 and travel smoothly through the curved pipe. can do.
  • Figure 6 is a diagram schematically showing the interior of the pipe traveling robot 100 in accordance with an embodiment of the present invention traveling through the pipe 200 by receiving power through the external power source 250.
  • the internal driving pipe 100 receives a power from an external power source 250 and provides a driving motor for providing driving force to the front carriage 10a and the rear carriage 10b.
  • An internal power source 70 that moves inside the pipe 200 together with the carriage 10 and is selectively connected to a current path between the external power source 250 and the driving motor 15 by the operation of the switch 75. ; And when the power deviation between the power provided to the driving motor 15 and the target power currently required by the external power supply 250 is generated, by operating the switch 75 to connect the internal power supply 70.
  • the controller 90 may compensate for the power provided to the driving motor 15 by the power deviation.
  • the carriage 10 including the front carriage 10a and the rear carriage 10b may be provided with a driving roller 14a.
  • the driving roller 14a By the driving of the driving roller 14a, the carriage 10 travels inside the pipe 200, and the driving motor 15 receives power from the external power source 250 to provide driving force to the driving roller 14a. do.
  • the driving motor 15 may be provided as one and may have a structure for providing driving force to the plurality of driving rollers 14a, or may be provided in plurality to provide driving force to each driving roller 14a separately.
  • FIG. 6 illustrates a structure in which a plurality of driving rollers 14a are provided on the carriage 10 and driving motors 15 are provided for each of the driving rollers 14a to provide driving force as an embodiment of the present invention. .
  • the inside of the pipe traveling robot 100 is the pipe 200 outside.
  • An external power source 250 is provided to transfer power from the external power source 250 to the driving motor 15.
  • the carriage 10 may be provided with an internal power source 70 separately from the external power source 250.
  • the internal power source 70 moves inside the pipe 200 together with the carriage 10, and selectively operates in the current path between the external power source 250 and the driving motor 15 by the operation of the switch 75. Connected.
  • the internal power source 70 may be provided in a state in which the carriage 10 or other components are mounted.
  • the internal power source 70 mounted in the carriage 10 is illustrated as an embodiment of the present invention.
  • FIG. 7 schematically shows a circuit connected to the current path between the external power source 250 and the driving motor 15 by the switch 75.
  • the switch 75 is provided on the current path of the drive motor 15 to selectively connect or disconnect the internal power source 70 on the path of the current delivered to the drive motor 15.
  • the operation of the switch 75 is controlled by the control unit 90, the control unit 90 operates the switch 75 in response to a user's operation signal, or operate the switch 75 according to a preset condition You can.
  • the internal power source 70 is not a main power source that is always connected to the current path delivered to the driving motor 15, the internal power source 70 may be provided in a smaller and lighter state than the external power source 250. At the same time with the 250 separately equipped with an internal power supply 70 on the traveling robot 100 is advantageous for driving.
  • the controller 90 operates the switch 75 when the power deviation between the power provided to the driving motor 15 and the target power currently required by the external power source 250 is generated. By connecting the 70 to compensate for the power provided to the drive motor 15 by the power deviation.
  • the control unit 90 may be provided in the traveling robot 100 or may be provided in a user's operation device. Hereinafter, the control unit 90 will be described with reference to the control robot 90 provided in the traveling robot 100 according to an embodiment of the present invention. do.
  • the controller 90 determines a current target power for driving the traveling robot 100, and the target power refers to power that satisfies the output required by the current driving motor 15 for traveling of the driving robot 100. do.
  • the target power may be determined based on the type of the driving motor 15 or the current required acceleration determined by the user.
  • the controller 90 determines whether a power deviation between the power provided to the driving motor 15 and the target power occurs.
  • the power provided to the driving motor 15 is provided from the external power source 250 spaced apart from the driving robot 100, and may be provided with a power different from the power set in the external power source 250 for various reasons.
  • the controller 90 controls the switch 75 to turn the internal power 70 into the driving motor. Connect on the current path to (15).
  • the power by the external power source 250 and the power by the internal power source 70 are delivered to the driving motor 15 together to compensate for the power deviation by the power by the internal power source 70, in various situations. It is possible to effectively cope with the power loss that may occur.
  • the external power source 250 is fixed to a point outside the pipe 200, the drive motor 15 is connected to the power cable 255 Power may be supplied from the external power source 250 through the power supply.
  • one embodiment of the present invention provides a main power source as an external power source 250 outside the pipe 200 to reduce the volume and load of the traveling robot 100. Means for supplying power from the external power source 250 to the driving motor 15 will be required. In one embodiment of the present invention, a power cable 255 is used.
  • FIG. 7 illustrates a circuit in which power is supplied from the external power source 250 to the driving motor 15 through the power cable 255.
  • the power cable 255 there may be a line resistance 257 generated from the power cable 255 itself, the power loss may be generated by the line resistance 257.
  • FIG. 7 shows the line resistance 257 caused by the power cable 255 itself. Meanwhile, the line resistance 257 existing in the power cable 255 increases as the length of the power cable 255 increases. When the line resistance 257 increases, in particular, the voltage transmitted from the external power source 250 to the driving motor 15 is lost, and thus a power loss occurs.
  • the driving robot 100 receives power from the external power source 250 fixed at one point outside the pipe 200 through the power cable 255.
  • a power cable 255 having an increased length is required, and power loss due to the line resistance 257 existing in the power cable 255 needs to be compensated for.
  • the driving motor 15 increases the amount of current consumed in order to output a high torque.
  • the voltage drop generated is increased together, and the amount of loss of power transmitted from the external power source 250 is also increased.
  • one embodiment of the present invention is driven by using the external power source 250 to reduce the volume and load of the traveling robot 100, and at the same time having the internal power source 70 and the power that can occur when driving To compensate for the loss.
  • one embodiment of the present invention provides an external power source 250 fixed at a point outside the pipe 200, and the electric power from the external power source 250 to the driving motor 15 through the power cable 255. Even if it is provided, despite the increase in the mileage or the power consumption of the drive motor 15, it is possible to stably satisfy the current target power required for the drive motor 15 by compensating for the power deviation through the internal power source 70. have.
  • the inner pipe running robot 100 may further include a voltage measuring unit 65 for measuring the voltage provided to the drive motor 15
  • the controller 90 connects the internal power supply 70 to compensate for the voltage deviation value. Can be.
  • control unit 90 may determine the power actually provided to the driving motor 15 through various methods, but in one embodiment of the present invention, the control unit 90 may drive the driving motor through the voltage measuring unit 65. The power provided to the driving motor 15 is determined by measuring the voltage provided to the 15.
  • the controller 90 determines an output currently required for the driving motor 15 by the user and determines a target power for the output. In addition, the current amount provided from the external power source 250 is adjusted to implement the target power.
  • the target power will normally be satisfied if the expected voltage for the regulated amount of current is provided to the drive motor 15, but if the voltage actually provided to the drive motor 15 has a voltage deviation with respect to the target power, the power deviation is Occurs.
  • the controller 90 determines the voltage actually transmitted to the driving motor 15 through the voltage measuring unit 65, and between the target voltage and the measured voltage determined by the target power. It is to determine whether there is a voltage deviation.
  • the controller 90 When there is the voltage deviation, the controller 90 operates the switch 75 shown in FIG. 7 toward the internal power supply 70, so that the voltage by the internal power supply 70 is transmitted by the external power supply 250. Can compensate. By compensating for the voltage delivered to the drive motor 15, the loss of power provided to the drive motor 15 is compensated.
  • the inner pipe running robot 100 may further include a current measuring unit 63 for measuring the current provided to the drive motor 15
  • the controller 90 may determine the target voltage based on a relationship between the current measured by the current measuring unit 63 and the target power.
  • FIG. 7 shows a state in which a current measuring unit 63 is provided on a current path provided to the driving motor 15 according to an embodiment of the present invention.
  • the controller 90 controls the current value transmitted to the driving motor 15 according to the target power.
  • control unit is provided such that a current value for achieving a target power is provided to the driving motor 15 with respect to the theoretical voltage provided by the external power source 250.
  • the current value set by the controller 90 and the current value provided to the actual driving motor 15 may have deviations for various reasons such as a control cause or a physical cause.
  • the exemplary embodiment of the present invention measures the actual current value provided to the driving motor 15 through the current measuring unit 63, and considers the measured current value with respect to the current target power. Calculate the voltage.
  • the embodiment of the present invention accurately and effectively considers the power deviation that may be generated by various causes by considering not only the voltage provided to the driving motor 15 but also the current deviation indicated by the current value.
  • the target power for driving of the driving robot 100 can be achieved with high reliability.
  • control unit 90 can connect the internal power supply 70 when the voltage deviation is more than the reference voltage value, the greater the measured current
  • the reference voltage value may be determined as a smaller value.
  • the voltage deviation between the voltage measured by the voltage measuring unit 65 and the target voltage may be caused by instability of the external power source 250, physical failure of the power cable 255, or a sudden change in driving state.
  • the voltage deviation generated when the driving change (acceleration change) of the traveling robot 100 is abruptly may be a natural result generated temporarily, and the influence on the running of the driving robot 100 may be weak. .
  • the power may be supplied through the internal power supply 70 in one embodiment of the present invention.
  • the reference voltage value may be determined as various values through various methods.
  • the reference voltage value may be determined statistically by grasping a voltage deviation accompanying unstable driving of the driving motor 15 due to power shortage through a plurality of experiments.
  • the reference voltage value may be changed in consideration of the control strategy side based on the statistical result. For example, if the emphasis is on stability, the reference voltage value may be set higher, and if the emphasis is on effectiveness, the reference voltage value may be set lower.
  • control unit 90 determines that the reference voltage value is smaller as the current provided to the driving motor 15 increases.
  • the large measured current means that the target power required for the driving motor 15 is large.
  • the situation where the target power is large corresponds to a situation in which a large load occurs in the driving robot 100 or a rapid acceleration situation.
  • driving the drive motor 15 unstable by the power loss affects the safety of the driving robot 100.
  • the reference voltage value is set for stability and effectiveness of the control of the driving robot 100, and the lower the reference voltage value is determined as the current provided to the driving motor 15 corresponds to a high current. This improves the running stability.
  • the internal pipe driving robot 100 receives power from an external power source 250 to provide driving force to the carriage 10 or the driving roller 14a.
  • the driving circuit 120 may be controlled in a connected state
  • the braking circuit 130 may be controlled in a connected state.
  • control unit 90 of the present invention may be provided as separate entities independent of each other according to each function, or may exist in a single configuration including a plurality of functions described above.
  • FIG. 6 illustrates an external power source 250 located outside the pipe 200 in order to reduce the volume and load of the traveling robot 100 as an embodiment of the present invention, and using the power cable 255 to drive the motor 15. A structure for providing power to is shown.
  • FIG. 8 schematically shows a driving circuit 120 and a braking circuit 130 according to an embodiment of the present invention.
  • the driving circuit 120 includes an external power source 250 and is provided to be selectively connected to the driving motor 15. Referring to FIG. 8, the driving circuit 120 may include an external power source 250 and may be connected to both ends of the driving motor 15 through a control switch 122.
  • the control switch 122 connects either the driving circuit 120 or the braking circuit 130 to the driving motor 15 by the control unit 90.
  • the control switch 122 alternatively connects either the driving circuit 120 or the braking circuit 130 with the driving motor 15.
  • the braking circuit 130 is released and separated from the driving motor 15.
  • the driving circuit 120 is in the released state. And separated from the driving motor 150.
  • FIG. 8 includes a line including an external power source 250 according to an embodiment of the present invention. Both ends of the line are shown to be selectively connected to both ends of the line provided with the drive motor 15 through the control switch 122.
  • the braking circuit 130 is a circuit that does not include the external power source 250, it is selectively connected to the drive motor 15 through the control of the control switch 122. 8 schematically illustrates the braking circuit 130.
  • the braking circuit 130 does not include an external power source 250.
  • the driving motor 15 operates as a generator that is generated by an external force.
  • a braking mode that consumes the external force of the drive motor 15 is implemented.
  • the braking circuit 130 is connected to both ends of the line on which the driving motor 15 is provided.
  • the braking circuit 130 may be provided to short-circuit the positive poles of the driving motor 15, and include resistors 136 and 137 as described below to electrically connect the positive poles of the driving motor 15. You can also connect
  • the braking circuit 130 that selectively connects the positive poles of the driving motor 15 may be provided in various structures, but in FIG. 8, the ends of the driving motor 15 are respectively provided in FIG. 8.
  • the control switch 122 is provided, and the structure is connected to the anode of the drive motor 15 in an alternative relationship with the drive circuit 120 by the control of the control switch 122 is shown.
  • the braking circuit 130 may be provided on the traveling robot 100 or may be provided on the external power source 250 side.
  • the driving circuit 120 and the braking circuit 130 may be electrically connected to the driving motor 15 through a power cable 255. .
  • FIG. 8 illustrates a structure in which the braking circuit 130 is provided in parallel with the driving circuit 120 and electrically connected to the driving motor 15 through a power cable 255. .
  • the driving circuit 120 and the braking circuit 130 are alternatively controlled in the connected state and the released state through the control switch 122.
  • the controller 90 controls any one of the driving circuit 120 and the braking circuit 130 in a connected state. That is, when the driving circuit 120 is controlled in the connected state by the controller 90, the braking circuit 130 is controlled in the released state, and when the braking circuit 130 is controlled in the connected state, the driving circuit 120 is controlled. It can be controlled in a released state.
  • Determination of the connection state of the driving circuit 120 and the braking circuit 130 may be determined by a user's control module manipulation. For example, when the user operates to decelerate or stop the driving robot 100 according to the present invention by using a control module provided to control the driving state of the driving robot 100, the controller 90 drives the driving circuit according to the corresponding signal. The connection state of the furnace 120 and the braking circuit 130 is determined.
  • the controller 90 controls the driving circuit 120 to be in a connected state in the driving mode of the carriage 10, and controls the braking circuit 130 to be in a connected state in the braking mode of the carriage 10. .
  • the driving mode refers to a state in which power is supplied to the driving motor 15 to generate power
  • the braking mode refers to a state in which no power is generated in the driving motor 15, and a braking force is formed to stop the carriage 10.
  • the controller 90 may determine the driving mode and the braking mode through a user's operation signal. That is, when the user manipulates the driving motor 15 to generate power for driving, the controller 90 may recognize the driving mode, and the user decelerates the speed of the separate stop button or the driving robot 100. Control unit 90 may control the controller 90 to recognize the braking mode.
  • the controller 90 controls the driving circuit 120 in a connected state. Accordingly, power may be supplied from the external power source 250 to the driving motor 15, and the driving motor 15 may provide driving force to the driving roller 14a using the power of the external power source 250.
  • the controller 90 controls the driving circuit 120 in a released state while controlling the braking circuit 130 in a connected state. Simultaneously with the release of the driving circuit 120, the driving motor 15 is cut off from the power supply to generate a driving force, and the braking circuit 130 is connected to function as a generator that is generated by external force.
  • the inertia force or the load of the traveling robot 100 that acts on the driving robot 100 acts as an external force in the driving roller 14a in the driving state, and the external force eventually drives the motor 15.
  • the drive motor 15 is operated as a generator through the external force.
  • the driving robot 100 acts as a braking force that consumes the external force.
  • the traveling robot 100 of the present invention traveling inside the pipe 200 has a narrow traveling space, it is advantageous to reduce the volume or the load, as in the embodiment of the present invention. 130, it is possible to form a braking force even without providing a separate braking device in the drive roller (14a), it is advantageous to reduce the volume or load of the traveling robot 100 running inside the pipe.
  • a braking device may be provided together with the braking circuit 130, but in this case, the size and load of the braking device can be greatly reduced.
  • an embodiment of the present invention is advantageous to implement the driving robot 100 stop in the vertical pipe by using the braking circuit 130.
  • the vertical pipe is preferably a pipe 200 extending perpendicularly to the ground, and means a pipe 200 whose weight of the traveling robot 100 is parallel to or similar to the traveling direction.
  • the stopping of the traveling robot 100 in the vertical pipe should provide a braking force corresponding to an external force caused by a load acting on the traveling robot 100 as well as an inertial force existing in the traveling robot 100 according to the driving state.
  • the braking circuit 130 by using the braking circuit 130 as described above, the external force acting on the driving motor 15 is consumed and provided as a reaction force.
  • the external force due to the load is continuously To be maintained, a braking force for stopping the traveling robot 100 should be continuously provided.
  • One embodiment of the present invention is a braking system of the concept of consuming an external force acting on the drive motor 15 through a braking circuit 130 connecting the positive pole of the drive motor 15, a separate to form a braking force No power supply is required, and the greater the external force, the greater the braking power available.
  • an embodiment of the present invention continuously applies a braking force for external force to the traveling robot 100 without a separate power supply through the braking circuit 130. It is advantageous because it can provide.
  • FIG. 8 illustrates a driving circuit 120 and a braking circuit 130 according to an embodiment of the present invention.
  • an embodiment of the present invention is the driving motor 15.
  • the control unit 90 controls the control switch 122 to The connection state of the driving circuit 120 and the braking circuit 130 is controlled.
  • control switch 122 may be provided at both ends of the line including the drive motor 15, respectively, as shown in FIG.
  • a pair of control switches 122 are provided and positioned at both ends of the driving motor 15.
  • the internal traveling pipe 100 has a resistance line 135 and a short circuit state in which the resistance parts 136 and 137 are included in the braking circuit 130.
  • Resistive line 138 of the is provided in parallel, a resistance switch 133 for connecting any one of the resistance line 135 and the non-resistance line 138 between the anode of the drive motor 15 may be provided. have.
  • the resistance line 135 includes resistance parts 136 and 137, and the resistance line 138 does not include the resistance parts 136 and 137, thereby shorting the positive pole of the external power supply 250. It means the line connecting with state.
  • the braking force required for the traveling robot 100 in the braking mode of the traveling robot 100 may vary in size.
  • An embodiment of the present invention includes a resistance line 135 and a non-resistance line 138 separately to form the braking force in various sizes.
  • the driving motor 15 operates as a generator, and the power consumed by the braking circuit 130 becomes a braking force acting on the driving motor 15.
  • the power is controlled by controlling the amount of power consumed by the braking circuit 130. Adjust the braking force formed in the motor 15.
  • the resistance line 135 including the resistance parts 136 and 137 has a larger size of a resistor that consumes power than the non-resistance line 138 which forms a short state because there is no resistance. The amount of power consumed by the voltage is reduced.
  • the braking circuit 130 to which the resistance line 135 is connected consumes less power than the power of the non-resistance line 138 for the same time, and thus the braking force provided to the driving motor 15 is smaller. Lose.
  • the resistive line 138 there are no resistors 136 and 137, and the power consumption of the driving motor 15 is consumed in the entire line, and the resistance is very small compared to the resistance line 135, and the same time. While consuming more power.
  • the braking circuit 130 to which the resistivity line 138 is connected provides a greater braking force to the driving motor 15.
  • one embodiment of the present invention provides a resistance line 135 and a non-resistance line 138 which are selectively and alternatively connected to the braking circuit 130, thereby varying the braking force required for the traveling robot 100. To meet.
  • the resistance line 135 and the non-resistance line 138 are alternatively connected to the braking circuit 130 by the operation of the resistance switch 133, and the controller 90 controls the resistance switch 133 to control the resistance line.
  • One of the furnace 135 and the resistivity line 138 is connected to the braking circuit 130.
  • the internal pipe running robot 100 when the control unit 90 is the normal braking mode of the braking mode, the speed of the carriage 10 is greater than the reference speed of the braking circuit ( The resistance line 135 is connected at 130, and when the resistance speed is less than the reference speed, the resistance line 138 may be connected at the braking circuit 130.
  • the braking mode may be largely divided into a general braking mode and a rapid braking mode.
  • the controller 90 may recognize the sudden braking mode.
  • the difference over a certain level for recognizing the sudden braking mode may be variously set as necessary, and may be determined through experiments and statistics. In addition, this is to be understood by way of example, it is possible to set the rapid braking mode in a variety of other ways.
  • the controller 90 may recognize the case that does not correspond to the criterion of the rapid braking mode as the general braking mode. Furthermore, the user may be preset in one of the general braking mode and the rapid braking mode so that subsequent control may be controlled in either the general braking mode or the rapid braking mode.
  • the rapid braking mode refers to a mode in which the braking force is directly formed to a maximum magnitude, and the general braking mode is at least initially greater than the braking force of the braking mode during braking to reduce the shock caused by braking. It can be understood as a braking mode that forms a low braking force.
  • the criteria for distinguishing the general braking mode and the rapid braking mode will be understood by way of example, and may be set in various ways in consideration of the above purpose.
  • the controller 90 connects the resistance line 135 on the braking circuit 130 when the speed of the carriage 10 is greater than or equal to the reference speed when determined as the general braking mode. As described above, the resistance line 135 has a smaller amount of braking force formed in the driving motor 15 compared to the non-resistance line 138.
  • the resistance line 135 is connected to the braking circuit 130 when the reference speed is higher than the reference speed, thereby alleviating the shock due to the braking.
  • the reference speed is a reference for the alternative connection of the resistance line 135 and the non-resistance line 138, and the value thereof may be variously determined in consideration of a control strategy. For example, when the speed of braking is pursued, the reference speed may be set to a large value, and when the shock relief due to braking is pursued, the reference speed may be set to a smaller value.
  • the control unit 90 connects the resistive line 138 in the braking circuit 130 to prevent braking force. To increase.
  • the braking circuit 130 to which the resistivity line 138 is connected provides a greater braking force to the driving motor 15 than when the resistance line 135 is connected, and drives the braking force by the resistance line 135 above the reference speed.
  • the impact is applied to the motor 15 to alleviate the impact, and the braking force by the resistive line 138 is applied to the driving motor 15 to form the maximum braking force for the final stationary state at the reference speed.
  • the control unit 90 in the braking mode of the braking mode regardless of the speed of the carriage 10 in the braking circuit 130
  • the resistivity line 138 may be connected.
  • the rapid braking mode is to prioritize braking of the carriage 10 more quickly than to alleviate a shock that may act on the carriage 10 according to the braking.
  • the present invention provides a maximum braking force regardless of the speed of the carriage (10).
  • the control circuit 90 connects the resistive line 138 to the braking circuit 130 to short-circuit the positive pole of the external power supply 250, thereby closing the braking circuit 130.
  • an embodiment of the present invention may include an NTC element 136 in which the resistance values are lowered as the resistances 136 and 137 increase in temperature.
  • the NTC (NEGATIVE TEMPERATURE COEFFICIENT OF RESISTANCE) device refers to a resistance device having a characteristic that the resistance value decreases as the temperature of the device increases.
  • the resistance line 135 provides resistors 136 and 137 to consume the external force of the driving motor 15 from the resistors 136 and 137 as power.
  • the power is mainly consumed by heat, and thus, the resistance parts 136 and 137 increase in temperature as the braking mode continues.
  • the NTC element 136 provided in the resistor units 136 and 137 of the present invention has a lower resistance value as braking continues, and accordingly, the amount of power consumed by the resistor units 136 and 137 increases, thereby increasing the driving motor ( The braking force provided in 15) is gradually increased.
  • one embodiment of the present invention includes a resistance line 135 for forming a lower braking force in the driving motor 15 than the resistivity line 138, but the resistance portions 136 and 137 of the resistance line 135 are provided.
  • the braking force is gradually increased by the NTC element 136 as the braking proceeds in the braking mode connecting the resistance line 135.
  • the braking force provided to the traveling robot 100 is gradually increased to alleviate the impact, and the braking force of sufficient magnitude for stopping of the traveling robot 100 may be provided as the braking process proceeds.
  • a variable resistor in which the resistance value is adjusted by the control unit and the NTC element are disposed in series in the resistor unit.
  • the driving motor is selectively connected to the driving circuit and the braking circuit through a power cable, and the variable resistor may be adjusted to have a smaller resistance value as the length of the power cable is longer.
  • the braking circuit 130 uses the line resistance 257 which exists in the power cable 255.
  • the braking force of the driving motor 15 may be formed in the braking circuit 130.
  • the size of the line resistance 257 present in the power cable 255 may vary according to the length of the power cable 255, and thus the resistance line using the line resistance 257 of the power cable 255 may vary.
  • the forming of the braking force of the furnace 135 may vary in magnitude of the braking force, and therefore, an embodiment of the present invention includes a variable resistor 137 on the resistance line 135.
  • the controller 90 may control the variable resistor 137 such that the sum of the line resistance 257 and the variable resistor 137 of the power cable 255 achieves a predetermined value. For example, when the length of the power cable 255 increases and the line resistance 257 becomes large, the controller 90 adjusts the size of the variable resistor 137 to a smaller value, and the length of the power cable 255 shortens the line resistance 257. When the size decreases, the controller 90 adjusts the size of the variable resistor 137 to keep the resistance value provided by the braking circuit 130 constant.
  • one embodiment of the present invention configures the braking circuit 130 using the line resistance 257 of the power cable 255, even if the line resistance 257 of the power cable 255 changes, the driving motor ( The variable resistor 137 is disposed so that the braking force provided to 15 may be uniformly formed.
  • link part 13a first link

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  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • General Engineering & Computer Science (AREA)
  • Robotics (AREA)
  • Chemical & Material Sciences (AREA)
  • Combustion & Propulsion (AREA)
  • Manipulator (AREA)

Abstract

La présente invention concerne un robot se déplaçant dans un tuyau. Un robot se déplaçant dans un tuyau selon un mode de réalisation de la présente invention peut comprendre : un chariot avant et un chariot arrière qui sont supportés par une paroi interne d'un tuyau et peuvent se déplacer le long de la paroi interne du tuyau; et un support qui relie le chariot avant et le chariot arrière et présente une flexibilité ajustable.
PCT/KR2018/001900 2017-02-14 2018-02-13 Robot se déplaçant dans un tuyau WO2018151511A1 (fr)

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JP2019543923A JP6863656B2 (ja) 2017-02-14 2018-02-13 配管内部走行ロボット
CN201880025018.3A CN110520253B (zh) 2017-02-14 2018-02-13 管道内行走机器人
SG11201907478TA SG11201907478TA (en) 2017-02-14 2018-02-13 In-pipe running robot

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KR1020170020110A KR20180093678A (ko) 2017-02-14 2017-02-14 배관내부 주행로봇
KR10-2017-0020110 2017-02-14
KR1020170085571A KR102041608B1 (ko) 2017-07-05 2017-07-05 배관내부 주행로봇 및 그 제어방법
KR10-2017-0085571 2017-07-05
KR1020170085952A KR102018670B1 (ko) 2017-07-06 2017-07-06 배관내부 주행로봇
KR10-2017-0085952 2017-07-06

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CN109849015A (zh) * 2019-03-22 2019-06-07 上海交通大学 多足式管道移动机器人装置
CN112413281A (zh) * 2020-11-03 2021-02-26 三峡大学 一种新型螺旋轮式微型管道探测机器人及使用方法
CN114151650A (zh) * 2021-12-17 2022-03-08 西安石油大学 一种管道巡检机器人及控制方法

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CN113483192A (zh) * 2021-06-17 2021-10-08 中广核研究院有限公司 管道爬行载体
KR102519598B1 (ko) * 2022-09-28 2023-04-10 (주)로보아이 비드 제거 로봇

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CN114151650B (zh) * 2021-12-17 2023-10-20 西安石油大学 一种管道巡检机器人及控制方法

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CN110520253B (zh) 2022-11-08
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CN110520253A (zh) 2019-11-29
JP6863656B2 (ja) 2021-04-21

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