WO2023096183A1 - Crack detection and repair device and system - Google Patents

Abstract

An embodiment of the present invention provides a crack detection and repair device comprising: a body; a pair of drive units which are disposed at both ends of the body and reciprocate the body along the height direction of an object to be inspected; a support unit which is disposed at one surface of the body and is supported by the outer wall of the object; a detection unit which is disposed in the body and detects the state of cracks in the object; and a repair unit which is movably disposed in the body and repairs the object on the basis of the state of cracks detected by the detection unit.

Description

Crack detection and repair devices and systems

The present invention relates to a device and a system, and more particularly, to a crack detection and repair device for inspecting and repairing cracks in an inspection object and a crack inspection and repair system including the same.

In general, the pier constituting the lower inspection object of the bridge serves to firmly support the PC-BEAM or upper slab, which is the upper inspection object, from the lower part. In particular, since there are many rivers in Korea, when bridges are constructed across rivers, piers are often located with well foundations in the water, or when bridges are constructed in mountainous areas, well foundations are buried in the ground. and a pier is constructed on the upper part of the foundation of the well. Since vehicles pass through the upper part of these piers, vibration absorbing devices called elastic bearings, braces, and elastic plates that can absorb upper vibration are installed on the upper coping of the pier to support the lower part of the upper slab and operate elastically. will do

However, bridges cannot avoid the problem of cracks occurring in piers due to deterioration with the passage of time, even if the inspection work is performed regularly every year. In addition, since most bridges support the mold of the unit member, which is the upper inspection object, with braces by several piers, regular inspection and maintenance work on the piers is essential for the stability of the bridge.

In order to inspect and repair these several piers, a bridge inspection facility that allows workers to approach the pier must be installed. There are various types of bridge inspection facilities provided so far, such as fixed and mobile. For example, in a fixed inspection facility that can be installed at relatively low cost, for each of several piers, the upper end of the pier fixes a steel plate scaffold with a certain width around the entire side circumference of the coping with dozens of support brackets. It is a configuration that forms an inspection passage for workers to move by installing safety handrails.

However, these fixed inspection facilities have the advantage of good worker activity because the inspection passage is always secured around the piers, but in the case of bridges installed in downtown areas, support brackets, steel plate scaffolding, and safety handrails are fixed around the piers. There is a disadvantage that it is unsightly exposed and spoils the aesthetics of the city. In addition, although the installation cost is somewhat cheap, as the support brackets, steel plate scaffolding, and safety handrails are made of stainless or steel materials, material costs and construction costs are high. There is a problem. In addition, in the case of a mobile inspection cart, rails must be installed along the entire length of the bridge and the mobile cart must be equipped with a self-propelled driving device, driving power source, and driving device, so the total facility cost is very high compared to the fixed inspection facility. There is a problem in which defects occur.

On the other hand, recently, piers are inspected whenever necessary using drones, high-magnification cameras, aerial work vehicles, etc., without installing separate inspection facilities. However, this pier inspection means has a problem in that it is difficult to inspect high piers (50m or more) where the terrain is rough and high, and strong winds are severe. For example, in the case of a drone, it is difficult to fly in a section where GPS is not received, it is difficult to respond to changes in the surrounding environment such as wind depending on the pilot's proficiency, and there are problems such as lack of safety such as crash or crash. In addition, in the case of a high-magnification camera, there are problems in that the accuracy of the visual proximity inspection is lowered, inspection blind spots are generated due to obstacle interference such as terrain, and inspection time is excessively consumed. In addition, the aerial work vehicle has a problem that it is difficult to inspect when there is no access road or a pier with a height of 30 m or more, and there is a risk of safety accidents such as overturning.

The technical problem to be achieved by the present invention is to provide a crack detection and repair device capable of not only inspecting cracks regardless of the height of a structure, but also repairing cracks while lifting in the height direction of a structure such as a pier.

The technical problem to be achieved by the present invention is not limited to the above-mentioned technical problem, and other technical problems not mentioned can be clearly understood by those skilled in the art from the description below. There will be.

In order to achieve the above technical problem, the crack detection and repair device according to an embodiment of the present invention includes a body, and a pair of driving units disposed at both ends of the body and reciprocating the body along the height direction of the inspection object. And, a support part disposed on one surface of the body and supported on an outer wall of the inspection object, a detection unit disposed on the body and detecting a crack state of the inspection object, and movably disposed on the body, A repair unit for repairing the inspection object based on the crack state detected by the detection unit may be included.

In one embodiment of the present invention, the maintenance unit may include a connection part coupled to the body to be reciprocally movable in a left and right direction, a detachable front end part, and a head part coupled to one end of the connection part. .

In one embodiment of the present invention, the tip portion is provided with a plurality of doedoe, any one of the plurality of the tip portion may be selectively coupled to the head portion.

In one embodiment of the present invention, the maintenance unit includes a storage unit having a discharge passage portion in which the maintenance material is accommodated and communicating with the head unit, and pressurizing the maintenance material accommodated in the storage unit to form the discharge passage portion. A pressurizing unit for discharging through may be further provided.

In one embodiment of the present invention, the support portion may include a fixing portion attached to an outer surface of the inspection object to fix the body.

In order to achieve the above technical problem, a crack inspection and repair system according to another embodiment of the present invention includes a crack detection and repair device for detecting a crack state of an inspection object and repairing the inspection object, and detecting the crack state and It may include a control unit for controlling crack state detection and crack repair of the repair device.

Crack detection and repair devices and systems according to embodiments of the present invention detect cracks on the surface of an object to be inspected when the body is moved up and down, and analyze the detected cracks to diagnose the safety of the object to be inspected. In addition, by performing crack repair work based on the crack state detection result, crack detection and crack repair can be performed integrally using one device.

The effects of the present invention are not limited to the above effects, and should be understood to include all effects that can be inferred from the description of the present invention or the configuration of the invention described in the claims.

1 is a perspective view showing a crack detection and repair device according to an embodiment of the present invention.

2 is a perspective view showing a crack detection and repair device according to an embodiment of the present invention.

Figure 3 is a perspective view showing a repair unit provided in the crack detection and repair device according to an embodiment of the present invention.

4 is an exploded perspective view showing a part of a repair unit provided in a crack detection and repair device according to an embodiment of the present invention in which it is disassembled.

5 is a perspective view illustrating a maintenance unit and a head unit in a state in which the head unit is separated according to an embodiment of the present invention.

6 is a side view illustrating a crack detection and repair device according to an embodiment of the present invention.

7 is a cross-sectional view showing a crack detection and repair device according to an embodiment of the present invention.

8 is a perspective view showing a crack detection and repair system according to an embodiment of the present invention.

Hereinafter, the present invention will be described with reference to the accompanying drawings. However, the present invention may be embodied in many different forms and, therefore, is not limited to the embodiments described herein. And in order to clearly explain the present invention in the drawings, parts irrelevant to the description are omitted, and similar reference numerals are attached to similar parts throughout the specification.

Throughout the specification, when a part is said to be "connected (connected, contacted, combined)" with another part, this is not only "directly connected", but also "indirectly connected" with another member in between. "Including cases where In addition, when a part "includes" a certain component, it means that it may further include other components without excluding other components unless otherwise stated.

Terms used in this specification are only used to describe specific embodiments, and are not intended to limit the present invention. Singular expressions include plural expressions unless the context clearly dictates otherwise. In this specification, terms such as "include" or "have" are intended to indicate that there is a feature, number, step, operation, component, part, or combination thereof described in the specification, but one or more other features It should be understood that the presence or addition of numbers, steps, operations, components, parts, or combinations thereof is not precluded.

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

1 is a perspective view showing a crack detection and repair device according to an embodiment of the present invention. 2 is a perspective view showing a crack detection and repair device according to an embodiment of the present invention.

1 and 2, the crack detection and repair device 100 is installed on the inspection object 20 (see FIG. 8), moves up and down along the surface of the inspection object, and is generated on the surface of the inspection object 20. cracks can be detected and repaired. At this time, the inspection object may be, for example, a structure such as a bridge or pier.

The crack detection and repair device 100 may include a body 110 , a driving unit 120 , a support unit 130 , a detection unit 140 , and a repair unit 200 .

The body 110 is a part where the driving unit 120, the support unit 130, the detection unit 140, and the maintenance unit 200 are disposed, and may be formed, for example, in the shape of an elongated rectangular parallelepiped bar. . At this time, the body 110 may have a separate device such as a measuring device such as a sensor, a communication device, or a power supply device built in, and in another embodiment, these devices may be mounted on the outside of the body 110. Of course.

The bead 110 may include a coupling portion 111 protruding from its rear surface toward the rear (-X-axis direction). At this time, the coupling portion 111 may be formed extending along the longitudinal direction (Y-axis direction) of the body 110 .

A mounting mount 112 for mounting a detection unit 140 to be described below may be coupled to the rear end of the body 110 . As exemplarily shown in FIG. 2, the front end of the mounting mount 112 is coupled to the rear surface of the body 110 below the coupling part 111, and the rear end of the mounting mount 112 is coupled to the rear of the coupling part 111. (-X axis direction) may protrude. At least one fastening part (not shown) for coupling the detection unit 140 may be formed on an upper surface of the mounting mount 112 . At this time, the fastening part may be, for example, a fastening screw hole capable of screwing.

The body 110 may include a guide part G for movably mounting the maintenance unit 200 to be described later. In one embodiment, the guide part (G) may be disposed on top of the body 110 . In this case, the guide portion (G) may be formed extending from one end of the body 110 to the opposite end along the longitudinal direction (Y-axis direction). On the other hand, in this drawing, the guide portion (G), while showing an embodiment in which the guide protrusion protrudes upward (Z-axis direction) from the upper end of the body 110, the present invention is not limited to this, the guide portion as another example (G) may be a guide groove formed concavely from the upper end of the body 110 toward the lower side (-Z axis direction).

As one embodiment, the body 110 may be formed by continuously detachably coupled a plurality of unit bodies 110a along the longitudinal direction (Y-axis direction). In this case, carrying and storage convenience can be improved by separating into a plurality of unit bodies 110a.

In addition, the length of the body 110 can be freely adjusted by combining an appropriate number of unit bodies 110a according to the width of the inspection object 20 to be diagnosed. Although the figure shows an example of forming the body 110 by sequentially combining three unit bodies 110a, the present invention is not limited thereto, and the number of unit bodies 110a is the total length of the body 110. It can be selected appropriately considering the weight and weight. On the other hand, as another embodiment, the body 110 can be made of a single body, of course.

The drive unit 120 may generate a driving force for the crack detection and repair device 100 to move up and down along the height direction (Z-axis direction) of the inspection object 20 . As one embodiment, a pair of driving units 120 may be provided, and disposed one by one at both ends of the body 110 .

The driving unit 120 is connected to a rope (or wire) (W), and can move the body 110 up and down by the traction of the rope (W). To this end, the drive unit 120 includes a drive motor 121, a drive pulley 122 rotatably coupled to a drive shaft of the drive motor 121, and a plurality of auxiliary devices installed to rotate in conjunction with the drive pulley 122. A pulley 123 may be provided.

The plurality of auxiliary pulleys 123 are disposed symmetrically up and down around the drive pulley 122, and the rope W may pass between these pulleys 122 and 123 and extend in the vertical direction (Y-axis direction). . In this case, when the drive pulley 122 is rotated by the drive motor 121, a plurality of auxiliary pulleys 123 may rotate in conjunction with the drive pulley 122. At this time, the rope W extends past the pulleys 122 and 123 in a supported state so as to extend obliquely and simultaneously to the pulleys 122 and 123, so that the rotation of the drive pulley 122 and interlocking with it It can be raised or lowered by the rotation of the auxiliary pulley 123. On the other hand, by changing the rotation direction of the driving motor 121, it is possible to adjust the movement direction of the rope (W) to rise or fall.

The support part 130 can prevent the body 110 from directly colliding with the inspection object 10 when the body 110 ascends or descends. At this time, the support 130 may be provided at the rear end of the body 110, and one end of the support 130 is the outer surface (hereinafter, the outer surface) of the inspection object 20 facing the rear surface of the body 110. can protrude toward.

At least one support part 130 may be provided. As one embodiment, the support portion 130 may be provided with a plurality, spaced apart from each other at predetermined intervals along the longitudinal direction (Y-axis direction) of the body 110.

The support part 130 is movably supported in the vertical direction (Z-axis direction or -Z-axis direction) along the outer surface of the inspection object 20, thereby reducing shock or vibration transmitted to the body 110. In addition, it is possible to adjust the distance between the detection unit 140 mounted on the mounting mount 112 and the inspection object 20 as needed, which is explained later by the first support member 131 and the second support member 132. It can be made by adjusting the inclination angle of.

The support part 130 according to an embodiment of the present invention may include a first support member 131 and a second support member 132 coupled obliquely to the rear end of the body 110 by being crossed in the vertical direction. For example, the first support member 131 may obliquely extend toward the rear upper side of the body 110, and the second support member 132 may obliquely extend toward the rear lower side of the body 110.

The first support member 131 and the second support member 132 can adjust the inclination angle with respect to the body 110 as needed, and for this purpose, the first support member 131 and the second support member 132 Inclination control units (not shown) may be formed at one end. Through this inclination adjustment unit, the first support member 131 and the second support member 132 may be selectively rotatably coupled to the body 110 . Accordingly, by rotating the first support member 131 and the second support member 132, the angle between the two support members 131 and 132 can be adjusted as necessary, and after the angle adjustment is completed, the tilt adjusting unit It may be fixed at a corresponding angle through a provided locking member (not shown).

One contact portion 133 and one contact portion 134 may be provided at each end of the first support member 131 and the second support member 132 . The contact parts 133 and 134 are parts that directly contact the outer surface of the inspection object 20, and as exemplarily shown in the drawing, the ends of the first support member 131 and the second support member 133 and 134 It may be a support roller rotatably coupled to each.

In addition, fixing parts (not shown) may be provided to the first support member 131 and the second support part 132 . The fixing part may serve to fix the contact parts 133 and 134 so that they do not fall while being in contact with the outer surface of the inspection object 20 . In one embodiment, the fixing part is composed of an air suction device, and the contact parts 133 and 134 may be fixed to the outer surface of the inspection object 20 through air suction. At this time, the fixing part can fix the contact parts 133 and 134 to the outer surface of the inspection object 20 through air suction operation, and when the body 110 needs to be lifted, the air suction operation is stopped to release the fixed state. can

As another embodiment, the fixing part may be in the form of a sucker having a fine size attachable to the outer surface of the inspection object 20 . In this case, the contact parts 133 and 134 can be fixed to the outer surface of the inspection object 20 by the adhesive force of the sucker, and then the body 110 can move up and down again by the drive unit 120 generating a driving force equal to or greater than the adhesive force of the sucker. can Meanwhile, the fixing part according to the present invention is not limited to the above-described embodiments, and any form capable of fixing the contact state of the contact parts 133 and 134 may be used, of course.

As such, since the support part 130 includes the contact parts 133 and 134 , shock applied to the first support member 131 and the second support member 132 when the body 110 moves up and down can be reduced. In addition, since the support part 130 further includes a fixing part, the body 110 is prevented from being shaken by external factors such as wind while a crack detection or crack repair operation is performed, and thereby the detection unit 140 enables accurate crack detection.

The detection unit 140 may be disposed on the body 110 to detect a crack state of the inspection object 20 . At this time, the detection unit 140 may be detachably coupled to the mounting mount 112 of the body 110 described above. In this case, a plurality of detection units 140 may be provided so as to be installed one by one in a plurality of mounting mounts 112 spaced apart at predetermined intervals along the longitudinal direction (Y-axis direction) of the body 110 .

The detection unit 140 is composed of a camera, for example, and can detect the crack state of the inspection object 20 by taking a video and/or image of the outer surface of the inspection object 20 . As another example, the detection unit 140 may be configured with a laser sensing device such as Lidar. In this case, the detection unit 140 fires a laser pulse toward the inspection object 20 and measures the reflected return distance, time, etc. to determine whether or not a crack has occurred in the inspection object 20, the depth of the crack, and the internal shape of the crack. etc. can be detected.

The detection unit 140 is a display unit through which the user of the crack detection and repair device 100 according to the present invention can check the video, image, or sensing result of the outer surface of the inspection object 20 through wireless or wired communication. (not shown) can be transmitted in real time. Accordingly, the user can check the detection result simultaneously with detecting cracks in the inspection object 20 .

The detection unit 140 may generate a detection signal including a crack state detection result of the inspection object 20 and transmit it to the control unit 30 to be described later through wireless or wired communication, which will be described in detail later. do.

Figure 3 is a perspective view showing a repair unit provided in the crack detection and repair device according to an embodiment of the present invention. 4 is an exploded perspective view showing a part of a repair unit provided in a crack detection and repair device according to an embodiment of the present invention in which it is disassembled. 5 is a perspective view showing a crack detection and repair system according to an embodiment of the present invention. 6 is a side view illustrating a crack detection and repair device according to an embodiment of the present invention. And, Figure 7 is a cross-sectional view showing a crack detection and repair device according to an embodiment of the present invention.

Referring to FIGS. 3 to 7 , the repair unit 200 is disposed on the body 110 to perform repair work on cracks generated in the inspection object 20 . At this time, the maintenance unit 200 may include a connection part 210, a head part 220, and a tip part 230. In addition, the maintenance unit 200 may further include storage units 111a, 111b, and 111c and a pressing unit 112.

The connection part 210 may be movably coupled to the guide part G of the body 110. At this time, the connection unit 210 can adjust the position of the maintenance unit 200 by reciprocating left and right along the longitudinal direction (Y-axis direction) of the body 110 . As described above, in the case of the embodiment in which the guide portion G is in the form of a protruding guide protrusion, as exemplarily shown in FIG. 4, the connecting portion 210 has a cross section of a 'c' shape, It may be coupled to the guide part (G) so as to cover the upper surface and both sides of (G).

As an example, the connection unit 210 may include an articulated robot arm L at an upper end. At this time, the articulated robot arm R may be formed by coupling a plurality of link members to be rotatable with each other. A head portion 220 to be described later may be coupled to the upper link member of the articulated robot arm L. Meanwhile, as another embodiment, the connection unit 210 does not include the articulated robot arm L, and the head unit 220 may be directly coupled to the upper end of the connection unit 210, but hereinafter, for convenience of explanation, An embodiment in which the articulated robot arm L is provided will be mainly described.

The head part 220 may be rotatably coupled to the upper end of the articulated robot arm L within a predetermined rotation radius. At this time, the head unit 220 may include a rotational driving force generating unit 221 and a rotational member 222 as exemplarily shown in FIG. 5 .

The rotational driving force generating unit 221 may be disposed in an accommodation space provided inside the head unit 220 in one embodiment. The rotational driving force generating unit 221 may generate rotational driving force for rotating the rotating member 222 .

The rotating member 222 may be rotatably coupled to one end of the rotation driving force generating unit 221 . At this time, the rotating member 222 may perform a rotational motion (R) around the reference axis (M) of the rotational driving force generating unit 221 . Rotating member 222 may be, for example, a disc shape having a predetermined thickness, but is not limited thereto. In addition, the rotating member 222 may be formed with a connection hole (not shown) for connecting a discharge passage portion H, which will be described later.

The front end 230 may be provided with a repair part for crack repair. This repair unit consists of a 'repair material nozzle (N2)' for injecting s, a 'water nozzle (N3)' for spraying water for cleaning the inside of the crack, and a 'sealing nozzle (N4)' for discharging a sealing material for sealing the crack opening. And, a 'paddle (P)' for flattening the outer surface of the applied sealing material, and a 'grinder (D)' for smoothing the outer surface of the cracked part where the repair material injection is completed. It may, but is not limited thereto. Meanwhile, in the present invention, the repair material and sealing material for repairing cracks may be made of, for example, epoxy resin.

The front end portion 230 is coupled to the above-described rotating member 222, and can perform a rotational movement (R) around the reference axis (M) together with the rotating member (222). At this time, the front end 230 may be detachably coupled to the rotating member 222 . In this case, the front end 230 may be separated from the head 220 and inspected, repaired, or replaced as necessary.

In addition, at least one front end 230 may be provided. As one embodiment, the front end 230 may be provided in plurality. In this case, at least one or more different repair parts may be installed in the plurality of tip parts 230 .

For example, four front ends may be provided. In this case, the first tip portion 230a is provided with an air nozzle N1, a maintenance material nozzle N2, a water nozzle N3, and a sealing material nozzle N4, and the second tip portion 230b has an air nozzle ( Any one of the N1) and the water nozzle N3, the maintenance material nozzle N2, and the sealing material nozzle N4 may be installed. At this time, the repair parts provided on the first tip part 230a and the second tip part 230b are arranged along an imaginary circle centered on the reference axis M, and at this time, the repair parts are spaced apart from each other at the same angle. It can be. That is, in the first tip part 230a, the four repair parts may be spaced apart from each other at 90° intervals. On the other hand, in the second tip part 230b, three repair parts may be spaced apart from each other at 120° intervals.

In this case, when the first tip portion 230a is coupled to the head portion 220, the rotating member 222 and the first tip portion 230a rotate by 90° about the reference axis M for each rotation. It can be controlled by the control unit 300 to do so. On the other hand, when the second tip portion 230b is coupled to the head portion 220, the rotating member 222 and the second tip portion 230b are rotated by 120° about the reference axis M for each rotation. It can be controlled by the control unit 300 to be described later.

As such, the rotation radius of the rotating member 222 corresponds to the angle at which the repair parts of the coupled front end part 230 are spaced apart, so that there is no need to change the position of the head part 220 or the connection part 210, the reference axis (M) is fixed by rotating the rotating member 222 and the distal end 230 coupled thereto, it is possible to replace the repair part facing the crack to be repaired according to the required work.

Meanwhile, a sealing material nozzle N4 and a paddle P may be installed in the third tip part 230c, and the two repair parts may be arranged in a line on an imaginary line passing through the reference axis M. Also, a grinder D may be installed in the fourth front end 230d. In this case, the rotating member 222 does not rotate while being fixed, and maintenance work can be performed by changing only the operation of the head part 220 or the connection part 210.

As described above, the front end 230 is detachably coupled to the rotating member 222, and selects any one of a plurality of different modularized front ends such as the first, second, third, and fourth front ends 230d. It is coupled to the head unit 220 to perform necessary repair work. Accordingly, it is possible to select and use the distal end 230 in which only the necessary repair parts are installed, thereby preventing an unnecessary increase in the weight of the crack detection and repair device 100, and as a result, necessary for lifting the device 100. Power consumption can be reduced.

The storage unit may be a storage space in which a repair material or a sealing material for repairing cracks is accommodated and stored. As an embodiment, a plurality of storage units may be provided, and for example, a first storage unit 111a, a second storage unit 111b, and a third storage unit 111c may be included. In this case, a maintenance material or a sealing material may be accommodated in each of the first, second, and third storage units 111a, 111b, and 111c. Although this figure shows an embodiment provided with three storage units, this corresponds to one embodiment of the present invention, and the number of storage units is not limited.

The storage units 111a, 111b, and 111c may be disposed on the body 110. As an embodiment, the storage units 111a, 111b, and 111c may be disposed within an accommodation space inside the body 110. At this time, the plurality of storage units 111a, 111b, and 111c may be inserted and disposed one by one in a plurality of accommodating spaces partitioned from each other. In this case, the storage units 111a, 111b, and 111c may be configured in the form of detachable cartridges. Accordingly, when all of the repair material or sealing material accommodated in some of the storage units 111a, 111b, and 111c is exhausted, only the corresponding storage unit can be separated and replaced with a new storage unit.

As another embodiment, the storage units 111a, 111b, and 111c may be disposed on at least one of the upper end or lower end of the body 110, or both side parts. In this case, as in the above-described embodiment, the storage units 111a, 111b, and 111c are detachably coupled, and the storage unit in which the repair material or sealing material stored therein is exhausted is separated and replaced with a new storage unit. However, hereinafter, for convenience of description, an embodiment in which the storage units 111a, 111b, and 111c are disposed in the accommodation space inside the body 110 will be described.

The storage units 111a, 111b, and 111c may include a discharge passage part H. The discharge passage part H may be provided to communicate with each of the plurality of storage parts 111a, 111b, and 111c one by one. In one embodiment, the discharge passage part H may be made of a hose made of a flexible material having a hollow part forming an internal passage. At this time, one end of the discharge passage portion H may communicate with the storage portions 111a, 111b, and 111c. And, the other end of the discharge passage portion H extends to the outside of the body 110, is inserted into the inner receiving hole of the head portion 220, and extends through the rotating member 222 to form the aforementioned maintenance material nozzle N2 or It may communicate with any one of the sealing nozzles N4.

The pressurization unit 112 may pressurize the maintenance material or the sealing material accommodated in the storage units 111a, 111b, and 111c and discharge the storage units 111a, 111b, and 111c to the outside. The pressing unit 112 may be disposed in the accommodation space inside the body 110, for example, or coupled to the outer surface of the body 110 as another example.

As an example, the pressing unit 112 may operate in a linear operation method. In this case, the pressing unit 112 may include a linear motor and a linear motion guide. At this time, the pressing part 112 is linearly moved by the linear motion motor and the guide, and the maintenance material or The sealing material can be pressurized. However, the present invention is not limited thereto, and the pressing unit 112 may operate in a hydraulic operation method.

As such, when the pressing unit 112 applies pressure into the storage units 111a, 111b, and 111c, the maintenance material or sealing material accommodated in the storage units 111a, 111b, and 111c is discharged to the outside of the storage units 111a, 111b, and 111c. It can be. The maintenance material or sealing material discharged from the storage units 111a, 111b, and 111c passes through the head unit 220 through the discharge passage H and moves to the maintenance material nozzle N2 or sealing nozzle N4, and the pressurizing unit A repair material may be injected into the crack C of the inspection object 20 by the continuous pressurization of 112, or a sealing material may be applied (or sprayed) to seal the outer opening of the crack C.

The repair unit 200 may include a compressor that generates pressure to inject air to clean the inside of the crack before injecting a repair material into the crack or applying a sealing material to the outer opening of the crack. . Due to the pressure generated by this compressor, air can be injected into the crack through the air nozzle N1.

In addition, the repair unit 200 may further include an additional storage unit (not shown) for storing cleaning water for cleaning the inside of the crack. At this time, the washing water stored in the additional storage unit is pressurized by the pressurizing unit 112 and can be sprayed toward the inside of the crack through the water nozzle N3 through the discharge passage unit H.

8 is a perspective view showing a crack detection and repair system according to an embodiment of the present invention.

Referring to FIG. 8 , the crack detection and repair system 10 may include a crack detection and repair device 100 and a control unit 300 .

The crack detection and repair device 100 is installed on the inspection object 20 and can detect cracks on the outer surface of the inspection object 20 while moving up and down along its height direction (Z-axis direction). At this time, since specific features of the crack detection and repair device 100 are the same as or similar to those described above, overlapping descriptions will be omitted.

The control unit 300 may control crack detection and crack repair of the crack detection and repair device 100 .

The control unit 300 may determine the crack state of the outer surface of the inspection target object 20 based on the crack state of the inspection target object 20 detected by the detection unit 140 . At this time, as a result of the determination, if cracks exist on the outer surface of the Buddha 20 to be inspected, the control unit 300 may transmit information on the position, shape, and size of the cracks (hereinafter referred to as crack state information) to the system manager.

In addition, the control unit 300 may control the operation of the repair unit 200 by generating a repair command signal to repair the crack when the presence of a crack is detected as a result of the above-described crack state detection. Meanwhile, the system manager may perform crack repair work by directly controlling the repair unit 200 after confirming the received crack state information.

The crack detection and repair device 100 may move to the detected crack location by receiving a repair command signal or by remote control of a system administrator. At this time, one method of repairing the crack by the repair unit 200 may be as follows.

First, the repair unit 200 moves to a position facing the crack along the guide part G, and can move to an accurate crack repair position using the articulated robot arm L. Then, the inside of the crack is cleaned using the air nozzle (N1) or the water nozzle (N3), and a sealing material is applied through the sealing nozzle (N4) to form a sealing film, thereby sealing the outer opening of the crack. After the outer opening is completely sealed, the repair unit 200 may perform crack repair by inserting the repair material nozzle N2 into the sealing film to inject the repair material. After the repair material injection and the hardening of the repair material are completed, the crack repair work may be completed by grinding the outer surface of the repaired crack using the grinder (D).

As described above, the crack detection and repair device 100 and the system according to the embodiments of the present invention detect cracks on the surface of the inspection object 20 when the body 110 moves up and down, and analyzes and checks the detected cracks. The safety of the object 20 can be diagnosed. In addition, by performing crack repair work based on the crack state detection result, crack detection and crack repair can be performed integrally using one device.

The above description of the present invention is for illustrative purposes, and those skilled in the art can understand that it can be easily modified into other specific forms without changing the technical spirit or essential features of the present invention. will be. Therefore, the embodiments described above should be understood as illustrative in all respects and not limiting. For example, each component described as a single type may be implemented in a distributed manner, and similarly, components described as distributed may be implemented in a combined form.

The scope of the present invention is indicated by the following claims, and all changes or modifications derived from the meaning and scope of the claims and equivalent concepts should be interpreted as being included in the scope of the present invention.

The present invention can be applied to industrially usable crack inspection and repair devices and systems.

Claims (6)

1. body;

   A pair of driving units disposed at both ends of the body and reciprocating the body along the height direction of the inspection object;

   a support part disposed on one surface of the body and supported on an outer surface of the inspection object;

   a detection unit disposed on the body and detecting a crack state of the inspection object; and

   A crack detection and repair device comprising: a repair unit movably disposed on the body and repairing the inspection object based on the crack state detected by the detection unit.
2. According to claim 1,

   The maintenance unit,

   a connecting portion coupled to the body so as to be reciprocally movable in left and right directions; and

   , Crack detection and repair device having a; disposed at one end of the connection portion, the head portion to which the front end is detachably coupled.
3. According to claim 2,

   The crack detection and repair device provided with a plurality of tip portions, wherein any one of the plurality of tip portions is selectively coupled to the head portion.
4. According to claim 2,

   The maintenance unit,

   a storage unit accommodating the maintenance material therein and having a discharge passage unit communicating with the head unit; and

   The crack detection and repair device further comprising: a pressurizing unit for pressurizing the repairing material accommodated in the storage unit and discharging it through the discharge passage unit.
5. According to claim 1,

   The support part is attached to the outer surface of the inspection object and has a fixing part for fixing the body, crack detection and repair device.
6. The crack detection and repair device according to any one of claims 1 to 5, which detects a crack state of the inspection object and repairs the inspection object; and

   Containing, a crack inspection and repair system.

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