Non-Excavation Self-Propelled Unmanned Robot Equipped with a Sanding Function

Abstract

The present invention relates to a non-excavation self-propelled unmanned robot having a sanding function, comprising a body having a wheel coupled to one side and a driving module that drives the wheel inside, and a sanding module disposed on one side of the body and having a grinding member that grinds the inner surface of a pipe, wherein the sanding module moves in a radial or circumferential direction with the direction of travel as a central axis, thereby enabling simultaneous grinding of the inner surface of a pipe and condition measurement without excavating the pipe, thus significantly reducing maintenance costs and working time.

Description

Technology Field

[0001] The present invention relates to an unmanned robot that travels inside a pipe, and more specifically, to a non-excavation self-propelled unmanned robot equipped with a sanding function that polishes foreign matter, corrosion layers, or damaged areas on the inner surface of the pipe while moving autonomously inside the pipe without excavating, and a function capable of measuring the condition of the inner surface of the pipe. Background Technology

[0003] In general, industrial piping, plant piping, sewage and wastewater piping, etc., accumulate corrosion, scale, and foreign substances on their inner surfaces due to long-term use, requiring periodic maintenance and surface treatment.

[0004] Traditionally, methods involving cutting or excavating pipes and deploying manpower to inspect the condition of the inner surface or perform grinding operations have been used, resulting in increased labor costs, process interruptions, and worker safety issues.

[0005] In addition, existing pipe inspection robots were primarily limited to imaging or simple measurement functions, which limited their ability to simultaneously perform actual surface treatment or repair work.

[0006] Accordingly, there is an increasing demand for unmanned robots capable of simultaneously performing a sanding function to polish the inner surface of pipes while traveling inside without excavating, and a measurement function to check the condition of the inner surface from various angles.

[0007] Korean Patent No. 10-1244361 is presented as a prior art. The prior art relates to a pipe cleaning robot, comprising: first and second transport vehicles (11, 12) configured such that a plurality of wheels (20) are individually driven and connected by a hinge (13), wherein the folding angle is adjusted by a driving means, the wheels (20) of the first and second transport vehicles (11, 12) adjacent to the hinge (13) are pressed against the inner surface of a pipe (P), and the wheels (20) provided at the other end are supported and transported while pressing against the other inner surface of the pipe (P); and a cleaning member (30) provided on one side of the first and second transport vehicles (10, 20) and cleaning the inside of the pipe (P) by rotational force; thereby facilitating initial insertion into a pipe with a narrow inner diameter at the inlet side and allowing the size to flexibly expand / contract in response to various pipe diameters, and furthermore, during transport, the wheels of the first and second transport vehicles are supported in close contact with the inner walls of the pipes facing each other, thereby preventing impact generated during the cleaning process and it has the effect of preventing rollover accidents caused by vibration.

[0008] However, the size of the pipes being introduced varies, and the inner circumference may be elliptical rather than circular, or curvature may exist due to foreign substances; consequently, there was a problem in that robots according to prior art could not adequately respond to such variables. Prior art literature

[0010] Korean Patent No. 10-1244361 (March 11, 2013) The problem to be solved

[0011] The present invention aims to solve the problems of the conventional technology described above by integrating a sanding function capable of effectively polishing the inner surface of a pipe while autonomously driving inside the pipe without excavating, and a function capable of precisely measuring the condition of the inner surface of the pipe before and after polishing, into a single unmanned robot.

[0012] In addition, another objective is to provide a structure that allows the position and direction of the abrasive member to be flexibly adjusted according to changes in pipe diameter or internal conditions. means of solving the problem

[0014] To solve such technical problems, the trenchless self-propelled unmanned robot according to the present invention comprises a body that travels inside a pipe and is equipped with a driving module having a wheel coupled to one side and driving the wheel inside, and a sanding module disposed on one side of the body and equipped with a grinding member that grinds the inner surface of the pipe. The sanding module is characterized by moving in a radial or circumferential direction with the direction of travel as a central axis.

[0015] The sanding module includes a sanding rotary motor having a rotation axis positioned in the body and positioned in the driving direction of the unmanned robot, and a first shaft coupled to the rotation axis of the sanding rotary motor, so that the abrasive member rotates in the circumferential direction and can polish the inner surface of the pipe.

[0016] The sanding module includes a lifting rail disposed on one side of the body and a mount disposed to be slidably movable along the lifting rail and coupled to one side of the abrasive member, so that the abrasive member can move radially and abrade the inner surface of the pipe.

[0017] The sanding module may include a sanding lifting motor coupled to a mount with a rotation axis facing the rail, and a sanding driving motor coupled to a mount with a rotation axis facing the opposite direction of the rail and having the abrasive member coupled to its end.

[0018] The trenchless self-propelled unmanned robot may further include a sensing module positioned on the other side of the body and measuring the internal condition of the pipe. The sensing module may include a second shaft coupled to the body and rotatably positioned around a vertical axis, a vision sensor bracket rotatably positioned on the second shaft and rotatably positioned around a horizontal axis intersecting the vertical axis, and a vision sensor coupled to the vision sensor bracket. Effects of the invention

[0020] According to the present invention, polishing of the inner surface of a pipe and condition measurement can be performed simultaneously without excavating the pipe, thereby significantly reducing maintenance costs and work time.

[0021] In addition, sanding and measuring functions can be integrated into a single unmanned robot, allowing for continuous monitoring of the inner surface condition of pipes before and after grinding, and effectively improving worker safety by minimizing human intervention. Brief explanation of the drawing

[0023] FIG. 1 is a left-side view of a non-excavation self-propelled unmanned robot having a sanding function according to the present invention. FIG. 2 is a view from the right of a non-excavation self-propelled unmanned robot having a sanding function according to the present invention. FIG. 3 is a top view of a non-excavation self-propelled unmanned robot having a sanding function according to the present invention. Specific details for implementing the invention

[0024] The features of the non-excavation self-propelled unmanned robot having a sanding function according to the present invention can be understood through the embodiments described in detail below with reference to the attached drawings.

[0025] The present invention is capable of various modifications and may take various forms, and embodiments are to be described in detail in the text. However, this is not intended to limit the present invention to the specific disclosed forms, and it should be understood that it includes all modifications, equivalents, and substitutions that fall within the spirit and scope of the invention.

[0027] The trenchless self-propelled unmanned robot according to the present invention is a device for autonomously driving inside a pipe and diagnosing the condition of the pipe, and comprises a body (100), a sanding module (200), a sensing module (300), and a control unit (400).

[0028] The trenchless self-propelled unmanned robot according to the present invention is equipped with a sanding module (200), and the sanding module (200) can improve the flow velocity by removing foreign substances from the inner circumferential surface of the pipe or by flattening it. The sanding module (200) can move up and down in the radial direction or rotate in the circumferential direction depending on the situation, and accordingly, can uniformly and precisely polish in response to the irregular inner surface condition of the pipe.

[0029] The trenchless self-propelled unmanned robot according to the present invention is equipped with a sensing module (300), and the sensing module (300) may collect image data necessary for driving the unmanned robot or transmit the data to a user. The sensing module (300) can perform rolling or elevating movements, and can acquire images by photographing various areas inside the pipe.

[0031] Hereinafter, the detailed structure of the non-excavation self-propelled unmanned robot according to the present invention will be described in detail.

[0032] A non-excavation self-propelled unmanned robot according to the present invention comprises a body (100) having a wheel coupled to one side and a driving module inside that drives the wheel, and a sanding module (200) having a grinding member (270) disposed on one side of the body (100) and grinding the inner surface of a pipe.

[0033] The sanding module (200) moves in a radial or circumferential direction with the direction of travel as the central axis.

[0034] The body (100) is a component that forms the basic skeleton of the robot, and is equipped with a driving module inside to drive the wheels.

[0035] The above-mentioned driving module may include an electric motor, a reduction gear, and a drive shaft, and is configured to drive stably in response to the diameter and environment inside the pipe.

[0036] One or more wheels are attached to the outer surface of the body (100) to move autonomously along the inner wall of the pipe, enabling inspection of the pipe interior in a non-excavation manner. Referring to the drawing, a total of four wheels can be attached to four sides of the body (100).

[0037] The sanding module (200) is a component that grinds the inner surface of the pipe.

[0038] The sanding module (200) is positioned on one side of the body (100) and is equipped with a grinding member (270) for grinding the inner surface of the pipe.

[0039] The grinding member (270) rotates at high speed and grinds away foreign substances inside the pipe.

[0040] The grinding member (270) has a disk or drum shape.

[0041] The sanding module (200) includes a sanding rotary motor (210), a first shaft (220), a lifting rail (230), a mount (240), a sanding lifting motor (250), a sanding drive motor (260), and a grinding member (270).

[0042] The sanding rotary motor (210) is a component that rotates the lifting rail (230) and the grinding member (270), etc.

[0043] The sanding rotary motor (210) is positioned in the body (100) and has a rotation axis positioned in the driving direction of the unmanned robot.

[0044] The first shaft (220) is a component that rotates (rolls) the corresponding parts with the direction of travel as the central axis.

[0045] The first shaft (220) is coupled to the rotation axis of the sanding rotation motor (210).

[0046] The first shaft (220) is rotatably coupled to the sanding rotary motor (210).

[0047] The first shaft (220) is extended forward.

[0048] The lifting rail (230) is a component that raises and lowers the grinding member (270).

[0049] The lifting rail (230) is positioned on one side of the body (100).

[0050] The lifting rail (230) is coupled to the first shaft (220) and rotates together with the first shaft (220) when the first shaft (220) rotates.

[0051] The lifting rail (230) is formed to extend radially from the first shaft (220). Specifically, the lifting rail (230) extends upward.

[0052] The mount (240) is a component that supports the grinding member (270).

[0053] The mount (240) is positioned to slide along the lifting rail (230), and a grinding member (270) is attached to one side.

[0054] The sanding lifting motor (250) is a component that lifts the mount (240) and the grinding member (270).

[0055] The sanding lifting motor (250) is coupled to the mount (240), with the rotation axis facing the rail.

[0056] A pinion is coupled to the shaft of the sanding lifting motor (250), and a rack may be formed on the inner surface of the rail. Due to this configuration, when the sanding lifting motor (250) is driven, the pinion engages with the rack and can raise the mount (240) and the grinding member (270).

[0057] The sanding drive motor (260) is a component that drives the abrasive member (270).

[0058] The sanding drive motor (260) is coupled to the mount (240), with the rotation axis facing the opposite direction of the rail, and the grinding member (270) is coupled to the end.

[0059] The shaft of the sanding lifting motor (250) and the shaft of the sanding driving motor (260) can be positioned on the same line. By having such a position, the vibration of the abrasive member (270) and the mount (240) assembly can be minimized.

[0060] The non-excavation self-propelled unmanned robot according to the present invention may further include a sensing module (300).

[0061] Accordingly, the unmanned robot according to the present invention can continuously perform grinding operations and condition measurements while traveling inside a pipe.

[0062] The sensing module (300) acquires an internal image of the pipe and uses it for the movement of the unmanned robot or transmits it to the user.

[0063] The sensing module (300) includes a second shaft (310), a bracket, and a vision sensor (330).

[0064] The second shaft (310) is a component that supports the vision sensor (330) and the vision sensor bracket (320).

[0065] The second shaft (310) is coupled to the body (100) and is positioned to be rotatable around a vertical axis.

[0066] The vision sensor bracket (320) is a component that supports the vision sensor (330).

[0067] The vision sensor bracket (320) is rotatably positioned on the second shaft (310) and is rotatably positioned around a horizontal axis that intersects the vertical axis.

[0068] The vision sensor (330) is a component that acquires a forward image of the unmanned robot.

[0069] The vision sensor (330) is coupled to the vision sensor bracket (320).

[0070] The vision sensor (330) can perform two-axis movement by means of the second shaft (310) and the vision sensor bracket (320), so the sensing module (300) can acquire image data of the shape inside the pipe from various angles.

[0071] The trenchless self-propelled unmanned robot according to the present invention can be inserted into a pipe, travel along the inside of the pipe, and polish the inner circumference of the pipe.

[0072] According to the present invention, the grinding member (270) can rotate in the circumferential direction together with the actuator by means of the first shaft (220), and can move up and down in the radial direction when the actuator is driven. Due to this driving, the control unit can control the grinding member (270) based on the Cylindrical Coordinate System, so even if the pipe is not circular (elliptical) or has irregularities inside, it can be easily controlled to maintain a constant sanding depth through the control of the lifting pressure.

[0073] In addition, the non-excavation self-propelled unmanned robot according to the present invention is equipped with a sensing module (300).

[0074] According to the present invention, the vision sensor (330) can rotate about a vertical axis by means of a second shaft (310) and simultaneously rotate about a horizontal axis by means of a vision sensor bracket (320). Therefore, there is an effect of being able to scan the inner wall of the pipe three-dimensionally and check the degree of polishing of the inner circumference wall of the pipe.

[0075] According to the present invention, the following effects are achieved.

[0076] Piping adaptability and work precision are improved.

[0077] Through the lifting function, a single robot can handle pipes ranging from small to large diameters, maximizing the equipment's versatility.

[0078] Even if the piping is not perfectly circular (elliptical) or has internal irregularities, a constant sanding depth can be maintained through lifting pressure control.

[0079] Work efficiency and scope are maximized.

[0080] The entire circumference of a specific point can be polished using a rotation module without the need for robot movement, thereby reducing power consumption and time associated with repetitive movement.

[0081] By fixing the sanding tool at a specific angle and location with severe corrosion and finely adjusting the lifting height, only that area can be processed intensively.

[0082] The reliability of the maintenance process can be ensured.

[0083] By completely removing oxide layers and foreign substances from the metal surface before subsequent processes such as lining or coating, the adhesion performance of the repair material can be maximized.

[0084] In the event of an excessive load, the lifting module immediately recedes to prevent damage to the sanding tool or overcutting of the pipe. Explanation of the symbols

[0086] 100: Body 200: Sanding Module 210: Sanding rotary motor 220: 1st shaft 230: Elevator rail 240: Mount 250: Sanding lift motor 260: Sanding drive motor 270: Grinding component 300: Sensing module 310: Second shaft 320: Vision sensor bracket 330: Vision sensor 400: Control unit

Claims

Claim 1 A trenchless self-propelled unmanned robot for driving inside a pipe comprises: a body having a wheel coupled to one side and a driving module having a driving module inside that drives the wheel; a sanding module disposed on one side of the body and having a grinding member for grinding the inner surface of the pipe; wherein the sanding module moves in a radial or circumferential direction with the direction of travel as a central axis; and wherein the sanding module comprises: a lifting rail disposed on one side of the body; a mount disposed to be slidably movable along the lifting rail and having the grinding member coupled to one side; a sanding lifting motor coupled to the mount, with a rotation axis facing the rail; and a sanding driving motor coupled to the mount, with a rotation axis facing the opposite direction of the rail and having the grinding member coupled to its end; wherein a pinion is coupled to the shaft of the sanding lifting motor and a rack is formed on the inner surface of the rail, so that the grinding member moves in a radial direction and grinds the inner surface of the pipe. Claim 2 In claim 1, the sanding module comprises: a sanding rotary motor having a rotation axis disposed in the body and disposed in the driving direction of the unmanned robot; and a first shaft coupled to the rotation axis of the sanding rotary motor; wherein the grinding member rotates in a circumferential direction and grinds the inner surface of a pipe, thereby forming a trenchless self-propelled unmanned robot. Claim 3 delete Claim 4 delete Claim 5 A trenchless self-propelled unmanned robot according to claim 1, further comprising: a sensing module disposed on the other side of the body and measuring the inner surface condition of the pipe; wherein the sensing module comprises: a second shaft coupled to the body and rotatably disposed around a vertical axis; a vision sensor bracket rotatably disposed on the second shaft and rotatably disposed around a horizontal axis intersecting the vertical axis; and a vision sensor coupled to the vision sensor bracket.

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