Robot for inspection of pipeline using multi-output differential module

Patent metadata

Field	Value
Publication number	US-10030803-B2
Application number	US-201615012071-A
Country	US
Kind code	B2
Filing date	Feb 1, 2016
Priority date	Feb 2, 2015
Publication date	Jul 24, 2018
Grant date	Jul 24, 2018

Abstract

Provided herein is a robot for inspection of a pipeline using a multi-output differential module, the robot including a robot body configured to move along an inside of the pipeline, and having a driving power supply unit; a proceeding unit rotatably-connected to the robot body, and provided with a plurality of active proceeding units having proceeding wheels that proceed along an inner wall of the pipeline; and a power transmission unit supported against the robot body, connected to the driving power supply unit to transmit driving power to the active proceeding unit, and having the multi-output differential module that distributes the transmitted driving power to the active proceeding unit.

First claim

What is claimed is:

1. A robot for inspection of a pipeline using a multi-output differential module, the robot comprising:
a robot body configured to move along an inside of the pipeline, and having a driving power supply unit;
a proceeding unit rotatably-connected to the robot body, and provided with a plurality of active proceeding units having proceeding wheels that proceed along an inner wall of the pipeline; and
a power transmission unit supported against the robot body, connected to the driving power supply unit to transmit driving power to the active proceeding unit, and having the multi-output differential module that distributes the transmitted driving power to the active proceeding unit,
wherein the multi-output differential module drives at least one of the plurality of active proceeding units at a speed different from a speed of another one of the plurality of active proceeding units upon the robot turning.

2. The robot according to claim 1 ,
wherein the multi-output differential module comprises:
a differential gear unit rotatably-connected to the robot body, and configured to transmit the power to each active proceeding unit; and
a differential gear rotating unit connected to the driving power supply unit, and configured to receive the driving power from the driving power supply unit to rotate the differential gear unit.

3. The robot according to claim 2 ,
wherein the differential gear unit comprises:
a differential gear frame unit that is connected to the differential gear rotating unit;
a first output gear and second output gear that are connected such that they are relatively rotatable against the differential gear frame unit and between each other;
a third output gear and fourth output gear that are connected such that they are relatively rotatable against the differential gear frame unit and between each other;
a first planetary gear that is rotatably-connected to a first rotation axis provided in the differential gear frame unit and that is geared to an inner gear teeth formed in an inner wall of the first output gear;
a second planetary gear that is rotatably-connected to a second rotation axis provided in the differential gear frame unit and that is geared to an inner gear teeth geared to the first planetary gear and formed in an inner wall of the second output gear;
a third planetary gear that is rotatably-connected to the first rotation axis and that is geared to the inner gear teeth formed in an inner wall of the third output gear; and
a fourth planetary gear that is rotatably-connected to the second rotation axis and that is geared to an inner gear teeth geared to the third planetary gear and formed in an inner wall of the fourth output gear.

4. The robot according to claim 2 ,
wherein the differential gear rotating unit comprises:
a main driving gear connected to the driving power supply unit;
a first subsidiary driving gear geared to the main driving gear;
a rotation axis for subsidiary driving gear connected to the first subsidiary driving gear;
a second subsidiary driving gear connected to the rotation axis for subsidiary driving gear; and
a ring gear for differential gear unit connected to the differential gear unit, and geared to the second subsidiary driving gear.

5. The robot according to claim 1 ,
wherein the power transmission unit comprises a driving power transmission gear module connected to the multi-output differential module and to the active proceeding unit, and configured to transmit the driving power to the active proceeding unit.

6. The robot according to claim 1 ,
wherein the active proceeding unit comprises:
a first active proceeding unit and second active proceeding unit arranged on a front area of the robot body; and
a third active proceeding unit and fourth active proceeding unit arranged on a rear area of the robot body.

7. The robot according to claim 6 ,
wherein the first active proceeding unit and second active proceeding unit are arranged symmetrically to each other based on a central area of the robot body, and
the third active proceeding unit and fourth active proceeding unit are arranged symmetrically to each other based on a central area of the robot body.

8. The robot according to claim 7 ,
wherein the proceeding unit further comprises a passive proceeding unit that is rotatably-connected to the robot body, and that has a proceeding wheel supported against the inner wall of the pipeline.

9. The robot according to claim 8 ,
wherein the passive proceeding unit comprises:
a first passive proceeding unit and second passive proceeding unit that are positioned in a front area of the robot body and are arranged symmetrically to each other based on a central area of the robot body, and
a third passive proceeding unit and fourth passive proceeding unit that are positioned in a rear area of the robot body and are arranged symmetrically to each other based on a central area of the robot body.

10. The robot according to claim 9 ,
further comprising a proceeding unit distance adjusting unit that is supported against the robot body, connected to a proceeding unit distance adjusting power supply unit, and connected to the active proceeding unit and passive proceeding unit to move the active proceeding unit and passive proceeding unit towards or away from the robot body.

11. The robot according to claim 10 ,
wherein the proceeding unit distance adjusting unit comprises:
an arm module connected to each of the active proceeding unit and passive proceeding unit; and
an arm module rotating unit connected to the arm module and configured to rotate the arm module.

12. The robot according to claim 11 ,
wherein the arm module comprises:
a first arm body that is rotatably-connected to each of the active proceeding unit and passive proceeding unit;
a second arm body that is rotatably-connected to the arm module rotating unit and to which the first arm body is connected in a slidable manner; and
an arm module elasticity body that is connected to the first arm body and second arm body and that elastically supports the first arm body.

13. The robot according to claim 11 ,
wherein the arm module rotating unit comprises:
a first manipulating gear to which the arm module is rotatably-connected;
a second manipulating gear geared to the first manipulating gear; and
a proceeding unit distance adjusting power transmission unit connected to the second manipulating gear and to the proceeding unit distance adjusting power supply unit to transmit the power of the proceeding unit distance adjusting power supply unit to the second manipulating gear.

14. The robot according to claim 13 ,
wherein the proceeding unit distance adjusting power transmission unit comprises a power control unit for selectively transmitting or stop transmitting the power supplied from the proceeding unit distance adjusting power supply unit to the second manipulating gear.

15. The robot according to claim 14 ,
wherein the power control unit comprises:
a rotation axis for power transmission that receives the power of the proceeding unit distance adjusting power supply unit and rotates;
an idle gear that is connected to the rotation axis for power transmission in a relatively rotatable manner;
a sliding gear that rotates together with the rotation axis for power transmission but connected to the rotation axis for power transmission in such a manner that it is slidable towards and away from the idle gear; and
a side gear arranged between the sliding gear and idle gear, geared to the sliding gear and connected to the second manipulating gear; and

Assignees

• Research & Business Found Sungkyunkwan Univ

Inventors

• Choi Hyouk Ryeol
• Kim Homoon
• Moon Hyeong Min
• Park Chanmin
• Yang Seung Ung
• Choi Yun Seok

Classifications

• F16L2101/30

  Inspecting, measuring or testing · CPC title

• F16L55/32 Primary

  being self-contained · CPC title

• B25J5/007

  mounted on wheels · CPC title