KR102690925B1 - A magnetic particle testing system for dangerous materials storage tanks using a drone and a magnetic particle testing method using the same - Google Patents

Abstract

The present invention provides a pretreatment robot that includes a cleaning unit, is attached to the inner wall of the tank, travels, and performs pretreatment work to enable economical, safe, and accurate inspection of a hazardous material storage tank; an inspection device that includes an inspection frame and a magnetic particle inspection unit, is attached and detachable to the inner wall of the tank, and performs a magnetic particle inspection of the inner wall of the tank on which the pretreatment robot has completed the pretreatment work; A pre-processing robot transfer drone that transfers the pre-processing robot, including a pre-processing robot fastening end coupled to the pre-processing robot; and a tester transport drone for transporting the tester, including a tester fastening end fastened to the tester. The present invention provides a magnetic particle inspection system for a hazardous material storage tank using a drone and an inspection method using the same.

Description

Magnetic particle inspection system for dangerous goods storage tanks using drones and inspection method using the same {A MAGNETIC PARTICLE TESTING SYSTEM FOR DANGEROUS MATERIALS STORAGE TANKS USING A DRONE AND A MAGNETIC PARTICLE TESTING METHOD USING THE SAME}

The present invention relates to a magnetic particle inspection system using a drone, and more specifically, to a system for magnetic particle inspection of a hazardous material storage tank including a preprocessor and an inspection device using a drone, and an inspection method using the same.

To transport and store dangerous substances such as liquefied natural gas (LNG) and liquefied petroleum gas (LPG), hazardous substances storage tanks are provided on carriers and on the ground.

Referring to Figure 1, the storage tank 1, which generally stores liquefied gas, has a tank inner wall 11 made of stainless steel, Invar (an alloy with a low thermal expansion coefficient mainly composed of iron and nickel), etc., where the liquefied gas is stored. A surrounded inner tank 10 is formed, and the inner tank 10 has a structure in which an insulating layer and an outer wall of the storage tank surround the inner tank 10. At this time, since the tank inner wall 11 is installed by welding several metal panels together, the tank inner wall 11 may include a welded portion 12.

Inside the inner tank 10, boil-off gas (BOG) may be generated due to heat intrusion from the outside, and the natural evaporation rate (BOR), which is the evaporation rate of boil-off gas, is achieved through insulation design. must be lowered, and leakage of liquefied gas or boil-off gas must be prevented.

Therefore, hazardous materials storage tanks must be periodically checked for defects in the inner walls of the tank to prevent leakage of liquefied gas, boil-off gas, and hazardous materials.

For example, the welded part of the tank inner wall of a dangerous substances storage tank that is stored and used in a liquefied state is a vulnerable part to fatigue performance during use, and after a certain period of time, a non-destructive test must be conducted to detect discontinuities that may occur in the welded part. A flaw inspection can be performed.

However, because hazardous material storage tanks are generally very large, separate work must be performed to allow the inspector access to the inner wall of the tank, and then the inspector can use a magnetic particle inspection device to inspect the discontinuity of the welded part of the inner wall of the tank. there was.

For example, in an internal tank, a work scaffold was installed so that the inspector could access the tank's inner wall, and the inspector climbed on the work scaffold to conduct a non-destructive inspection of the tank's inner wall, and then the work scaffold was dismantled again.

Accordingly, a lot of time was taken to inspect the hazardous materials storage tank, and in particular, the work time for installing and dismantling work scaffolding took up a very large proportion, so there was a problem of very low work time efficiency.

Recently, methods of inspecting structures using drones (meaning unmanned aerial vehicles capable of remote control or autonomous operation) have been introduced in various industrial fields. Accordingly, it has become possible to use drones to inspect structures that are difficult for inspectors to access, but so far, only the exterior is inspected using the drone's camera, and magnetic particle inspection can also be performed using drones. Appropriate systems and methods are not publicly available.

Accordingly, in order to ensure the efficiency of inspection of hazardous materials storage tanks, an economical, safe, and accurate method for magnetic particle inspection of hazardous materials storage tanks using drones is needed.

The present invention is intended to provide a system for magnetic particle inspection of hazardous material storage tanks using drones and an inspection method using the same to enable economical, safe, and accurate inspection of hazardous material storage tanks.

The present invention relates to a magnetic particle inspection of a hazardous material storage tank using a drone, and includes a pretreatment robot that includes a cleaning unit, is attached to the inner wall of the tank, travels, and performs pretreatment work; an inspection device that includes an inspection frame and a magnetic particle inspection unit, is attached and detachable to the inner wall of the tank, and performs a magnetic particle inspection of the inner wall of the tank on which the pretreatment robot has completed the pretreatment work; A pre-processing robot transfer drone that transfers the pre-processing robot, including a pre-processing robot fastening end coupled to the pre-processing robot; and a tester transport drone that transfers the tester, including a tester fastening end fastened to the tester. It provides a magnetic particle inspection system for a hazardous material storage tank using a drone.

In addition, the present invention relates to a method of magnetic particle inspection of a hazardous substances storage tank using a drone-based hazardous substance storage tank magnetic particle examination system, wherein the pre-treatment robot is transported around the welded portion of the inner wall of the tank using a pre-processing robot transfer drone. thing; The pretreatment robot is attached around the welded portion of the inner wall of the tank and moves along the welded portion to perform pretreatment work; Transferring the inspection device to a preprocessing work completion portion where the preprocessing robot has completed the preprocessing work using an inspection machine transfer drone; And the tester is attached to the part where the pretreatment work has been completed and performs a magnetic particle inspection.

According to an embodiment of the present invention, a magnetic particle inspection of a hazardous materials storage tank can be safely performed using a drone.

Additionally, according to one embodiment of the invention, a magnetic particle inspection of a hazardous material storage tank can be performed at an accurate location using a drone.

Additionally, according to one embodiment of the invention, inspection of a hazardous material storage tank can be performed by minimizing the work time using a drone.

Figure 1 is a schematic diagram showing an example of a storage tank.
Figure 2 is a schematic diagram of a magnetic particle inspection system using a preprocessing robot, a preprocessing robot transfer drone, an inspection machine, and an inspection device transfer drone according to an embodiment of the present invention.
Figure 3 is a schematic diagram of a magnetic particle inspection method using a pre-processing robot, a pre-processing robot transfer drone, an inspection machine, and an inspection device transfer drone according to an embodiment of the present invention.
Figures 4 and 5 show a pre-processing robot and a pre-processing robot transfer drone according to an embodiment of the present invention.
Figure 6 shows a pre-processing robot according to each embodiment of the present invention.
Figure 7 shows a tester according to an embodiment of the present invention.
Figure 8 shows the magnetic particle inspection unit viewed from directions A and B in Figure 7.
Figures 9 and 10 show the lower part of the magnetic particle inspection unit according to an embodiment of the present invention.
Figure 11 shows a magnetic particle inspection unit according to an embodiment of the present invention.
Figure 12 shows the lower part of the magnetic particle inspection unit of Figure 11.
Figures 13 and 14 show an inspection machine transport drone according to an embodiment of the present invention.

Hereinafter, embodiments of the present invention are described in detail. However, the present invention is not limited to the embodiments disclosed below, but may be implemented in various different forms. The present embodiments only serve to ensure that the disclosure of the present invention is complete and to convey the content of the present invention to those skilled in the art. It is provided for more complete information.

This will be described in detail below with reference to the drawings.

Figure 2 is a schematic diagram of a magnetic particle inspection system using a pre-processing robot, a pre-processing robot transfer drone, an inspection machine, and an inspection device transfer drone according to an embodiment of the present invention.

Referring to FIG. 2, the magnetic particle inspection system of the present invention may include a preprocessing robot 100, a preprocessing robot transfer drone 200, an inspection device 300, and an inspection device transfer drone 400a and 400b.

In order to inspect the tank inner wall 11 of the inner tank 10 of the storage tank 1, the pre-processing robot 100, the pre-processing robot transfer drone 200, the inspection machine 300, and the inspection transfer drone 400a, 400b are installed in the inner tank. It can be placed at (10).

For example, the pre-treatment robot 100 can be transported using the pre-treatment robot transfer drone 200 so that the pre-treatment robot 100 can approach the welded portion 12 of the tank inner wall 11.

In addition, the pre-treatment robot 100 can be brought close to the welded portion 12 of the tank inner wall 11 using the pre-treatment robot transfer drone 200 so that the pre-treatment robot 100 is attached to the tank inner wall 11.

In addition, after the preprocessing robot (100) is attached to the tank inner wall (11), the preprocessing robot transport drone (200) can be positioned at a certain distance or more from the preprocessing robot (100). At this time, the preprocessing robot (100) and the preprocessing robot transport drone (200) can be interconnected by a preprocessing robot fixing wire. Accordingly, it is possible to prevent a fall due to malfunction of the preprocessing robot (100), and when the preprocessing robot (100) deviates from the designated work section, the path can be corrected or the position can be adjusted using the preprocessing robot transport drone (200) to perform accurate preprocessing work on the inspection area. This will be described in detail with reference to FIGS. 4 and 5.

Accordingly, the pretreatment robot 100 attached to the tank inner wall 11 can perform pretreatment work while moving along the welded portion 12 of the tank inner wall 11. At this time, the pretreatment work may be a work of removing foreign substances (dust, oil, surface oxide, etc.) from the welded portion 12 using the cleaning unit included in the pretreatment robot 100, and the shape of the magnetic particles during the magnetic particle inspection. This may include, but is not limited to, spraying paint on the welded portion 12 to facilitate understanding.

The pretreatment robot 100 is attached to the tank inner wall 11 and may include an attachment drive unit that provides attachment force and driving force so that the pretreatment robot 100 can be attached to the tank inner wall 11 and travel. Accordingly, the pretreatment robot 100 can be attached to the tank inner wall 11 and perform the pretreatment work while moving along the welded portion 12.

Also, for example, the inspection device 300 can be transported using the inspection device transport drones 400a and 400b so that the inspection device 300 can approach the area around the welded portion 12 of the tank inner wall 11.

In addition, the tester 300 can be brought close to the welded portion 12 of the tank inner wall 11 using the tester transfer drones 400a and 400b so that the tester 300 can be attached to the tank inner wall 11.

In addition, after the inspection device 300 is attached to the tank inner wall 11, the inspection device transport drones 400a and 400b may be located at a certain distance or more away from the inspection device 300.

Accordingly, the inspection device 300 attached to the tank inner wall 11 can perform a magnetic particle inspection on the welded portion 12 of the tank inner wall 11 on which the pre-treatment robot 100 has completed the pre-treatment work.

Accordingly, the inspector approaches the tank inner wall 11 at the top of the inner tank 10 using the pre-treatment robot 100, the pre-processing robot transfer drone 200, the inspection machine 300, and the inspection machine transfer drone 400a, 400b. Magnetic particle inspection can be performed without installing scaffolding for work. In addition, work time can be shortened by using the pre-processing robot (100), pre-processing robot transfer drone (200), inspection machine (300), and inspection machine transfer drone (400a, 400b), making it possible to conduct economical, accurate, and effective magnetic particle inspection. This is advantageous for safety because the inspector can avoid working at heights.

Figure 3 is a schematic diagram of a magnetic particle inspection method using a pre-processing robot, a pre-processing robot transfer drone, an inspection machine, and an inspection device transfer drone according to an embodiment of the present invention.

Referring to Figure 3, the pre-processing work and magnetic particle inspection using the pre-treatment robot 100, the pre-processing robot transfer drone 200, the inspection machine 300, and the inspection machine transfer drone (400a, 400b) are shown in Figures 3 (a) and 3 ( b) and Figure 3 (c) may be performed in the order.

Referring to FIG. 3 (a), the pretreatment robot 100 is transferred to the welded portion 12 of the tank inner wall 11 using the pretreatment robot transfer drone 200.

Thereafter, the pretreatment robot 100 is attached to the welded portion 12 of the tank inner wall 11 and performs pretreatment work while moving along the welded portion 12.

For example, the pretreatment work may be a work of removing foreign substances from the welded portion 12 using a cleaning unit included in the pretreatment robot 100. In addition, the pretreatment work may include spraying paint on the welded portion 12 using the paint sprayer included in the preprocessing robot 100 to facilitate understanding the arrangement of magnetic particles by the magnetic field during magnetic particle inspection. Not limited.

Referring to FIG. 3 (b), the pretreatment robot 100 performs pretreatment work while moving along the weld zone 12 from the part (B) where pretreatment work has been completed to the part where pretreatment work has not been performed.

The pre-processing robot transfer drone 200 may be located at a certain distance or more away from the pre-processing robot 100. For example, the pre-processing robot transfer drone 200 deviates a certain distance or more so as not to interfere with the movement and pre-processing work of the pre-processing robot 100, but can move in the air along with the movement of the pre-processing robot 100. Accordingly, the pre-processing robot transfer drone 200 may not interfere with the movement and pre-processing work of the pre-processing robot 100, and the pre-processing robot transfer drone 200 and the pre-processing robot 100 are similar to the pre-processing robot described later with reference to FIG. 5. When connected with a fixing wire, a fall due to malfunction of the pre-processing robot 100 can be prevented by the pre-processing robot transfer drone 200.

Referring to FIG. 3 (c), the inspection device 300 can be transferred to the pre-processing work completion portion (B) where the pre-processing work has been completed using the inspection machine transfer drones 400a and 400b.

The inspection device 300 is attached to the pretreatment completed portion (B) and performs a magnetic particle inspection.

In addition, the inspection device 300 is attached to the pre-processing completed portion (B), and after completing the magnetic particle inspection, the inspection device 300 is transferred to the portion of the pre-processing completed portion (B) where the magnetic particle inspection was not performed. It can be transported and attached using (400a, 400b).

As described in FIG. 3 , when using the pretreatment robot 100 and the pretreatment robot transfer drone 200, pretreatment work can be performed without installing scaffolding for the inspector to access the tank inner wall 11.

In addition, when using the pretreatment robot 100 and the pretreatment robot transfer drone 200, the pretreatment robot 100 can be accurately positioned on the welded portion 12 of the tank inner wall 11 that requires pretreatment work, and accurate and stable preprocessing is possible. Work can be carried out.

In addition, when using the inspection device 300 and the inspection device transport drones 400a and 400b, the inspection device 300 can be accurately positioned on the welded portion 12 of the tank inner wall 11 where pretreatment work requiring magnetic particle inspection has been completed, Accurate and stable magnetic particle inspection can be performed.

In addition, when using the preprocessing robot 100, the preprocessing robot transfer drone 200, the inspection machine 300, and the inspection machine transfer drone 400a, 400b, the total work time according to a single process can be shortened, and the inspector's complaint ( It is advantageous for safety because high-level work can be avoided.

Figures 4 and 5 show a pre-processing robot and a pre-processing robot transfer drone according to an embodiment of the present invention.

For convenience of explanation in FIGS. 4 and 5 , the direction facing the tank inner wall 11 is defined as the front, and the direction opposite to the tank inner wall 11 is defined as the rear, based on the pre-processing robot transfer drone 200.

Referring to FIG. 4, the pre-processing robot transfer drone 200 includes a pre-processing robot transfer drone arm 220 and a pre-processing robot fastening end 240 included in the pre-processing robot transfer drone arm 220, and the pre-processing robot transfer drone ( The pretreatment robot 100 can be transported using 200).

The pre-processing robot transfer drone 200 may include a pre-processing robot transfer drone arm 220 below the pre-processing robot transfer drone body 210.

The upper end of the pre-processing robot transfer drone arm 220 is fixed to the bottom of the pre-processing robot transfer drone body 210, extends downward to the pre-processing robot transfer drone 200, and the pre-processing robot transfer drone arm joint 224 is mounted at the bottom. It may include a first pretreatment robot transfer drone arm 221.

The pre-processing robot transfer drone arm joint 224 mounted at the bottom of the first pre-processing robot transfer drone arm 221 may rotate around the first pre-processing robot transfer drone arm 221, but is not limited thereto.

In addition, the pre-processing robot transfer drone arm 220 has one end fixed to the pre-processing robot transfer drone arm joint 224, extends horizontally, and includes a pre-processing robot fastening end 240 at the other end. It may include a drone arm (222).

The second pre-treatment robot transfer drone arm 222 includes a pre-treatment robot fastening end 240, and may further include a pre-treatment robot fastening end buffer member 250 behind the pre-treatment robot fastening end 240. Accordingly, when attaching the pretreatment robot 100 to the tank inner wall 11, the impact transmitted through the second pretreatment robot transfer drone arm 222 can be alleviated.

The pre-processing robot fastening end 240 may be fastened to the pre-processing robot fastening end coupler 111 of the pre-processing robot 100. Accordingly, the pre-treatment robot 100 can be accurately and safely positioned on the tank inner wall 11 to perform the pre-treatment work using the pre-treatment robot transfer drone 200.

The pre-treatment robot fastening end 240 may be connected to the pre-treatment robot fastening end coupler 111 and the pre-treatment robot fixing wire 260. For example, referring to FIG. 5, after attaching the pretreatment robot 100 to the tank inner wall 11, the pretreatment robot transfer drone 200 is equipped with a pretreatment robot fastening end coupler ( The pre-processing robot fastening end 240 can be separated from 111 and moved away from the pre-processing robot 100. At this time, the pre-treatment robot fastening end 240 and the pre-treatment robot fastening end coupler 111 may be connected to the pre-treatment robot fixing wire 260 in order to efficiently guide the coupling position when reconnected. In addition, the pre-processing robot fastening end 240 and the pre-processing robot fastening end coupler 111 are connected to the pre-processing robot fixing wire 260 to prevent a fall due to malfunction of the pre-processing robot 100 separated from the pre-processing robot transfer drone 200. can be prevented. In addition, when the pre-processing robot 100 leaves the designated work zone, the pre-processing robot transfer drone 200 applies appropriate tension to the pre-processing robot fixing wire 260, and the pre-processing robot 100 corrects its path in response to the tension. Alternatively, you can adjust the position to perform accurate pretreatment of the inspection area.

Referring again to FIG. 4, one end of the pre-processing robot transfer drone arm 220 is fixed in the opposite direction of the point where the second pre-processing robot transfer drone arm 222 is mounted at the pre-processing robot transfer drone arm joint 224, It extends horizontally and may include a third pre-processing robot transfer drone arm 223 on which a pre-processing robot transfer arm counterweight 230 is mounted at the other end.

Accordingly, the second pre-processing robot transfer drone arm 222 and the third pre-processing robot transfer drone arm 223 maintain the weight balance based on the pre-processing robot transfer drone arm joint 224 to maintain the weight balance of the pre-processing robot transfer drone 200. Movement stability can be secured.

The first pre-processing robot transfer drone arm 221, the second pre-processing robot transfer drone arm 222, and the third pre-processing robot transfer drone arm 223 are adjustable in length. For example, the first pre-processing robot transfer drone arm 221, the second pre-processing robot transfer drone arm 222, and the third pre-processing robot transfer drone arm 223 may be in the form of a multi-stage hydraulic cylinder whose length can be adjusted. Not limited.

The pre-processing robot transfer drone body 310 of the pre-processing robot transfer drone 200 may be equipped with a pre-processing robot transfer drone camera 211 that can check the pre-processing operation on the outside of the pre-processing robot transfer drone body 210. For example, the pre-treatment robot transfer drone camera 211 may include an optical camera to check the position and status of the tank inner wall 11, the welding area 12, and the pre-treatment robot 100, but is not limited thereto.

The pre-processing robot transfer drone body 210 may include a pre-processing robot transfer drone wireless transmitting and receiving device 212 and a pre-processing robot transfer drone operating device 213.

The pre-processing robot transfer drone 200 can transmit the image generated through the pre-processing robot transfer drone camera 211 using the pre-processing robot transfer drone wireless transmitting and receiving device 212.

The operation of the pre-processing robot transfer drone 200 may be controlled by the pre-processing robot transfer drone operating device 213. For example, the pre-processing robot transfer drone 200 receives an external signal using the pre-processing robot transfer drone wireless transmitting and receiving device 212 and operates the pre-processing robot transfer drone 200 through the pre-processing robot transfer drone operating device 213. This can be controlled. Additionally, for example, the operation of the pre-processing robot transfer drone 200 may be controlled by operation logic pre-input to the pre-processing robot transfer drone operating device 213, but is not limited thereto.

Figure 6 shows a pre-processing robot according to each embodiment of the present invention.

In FIG. 6 , for convenience of explanation, the direction facing the tank inner wall 11 relative to the pretreatment robot 100 is defined as the bottom, and the direction opposite to the tank inner wall 11 is defined as the top.

Referring to Figure 6 (a), the pretreatment robot 100 may include a pretreatment robot body 110, an attachment drive unit 120, a cleaning unit 130, a sensor unit 140, and a paint injection unit 150. there is.

The pretreatment robot 100 may include an attachment drive unit 120 and a cleaning unit 130 at the lower part of the pretreatment robot body 110.

The attachment driver 120 provides attachment force to the tank inner wall 11 and may provide driving force so that the pretreatment robot 100 can move along the tank inner wall 11 while attached to the tank inner wall 11.

For example, the attachment drive unit 120 may be equipped with a magnetic force wheel capable of applying a magnetic force, as shown in FIG. 6 (a), or a vacuum adsorption wheel capable of providing a vacuum adsorption force, but is not limited thereto. In addition, for example, the attachment drive unit 120 may be applied with a magnetic force crawler (caterpillar) capable of imparting a magnetic force, as shown in FIG. 6 (b), or a vacuum adsorption crawler capable of imparting a vacuum adsorption force may be applied. It is not limited to this.

Accordingly, the pretreatment robot 100 can be attached to the tank inner wall 11 by the attachment drive unit 120 and move.

The cleaning unit 130 may include a cleaning member capable of removing foreign substances (dust, oil, surface oxide, etc.) from the welded portion of the tank inner wall 11 (FIGS. 5 and 12). For example, the cleaning unit 130 can shake off or remove foreign substances by causing friction on the surface of the welded portion of the tank inner wall 11 (FIGS. 5 and 12), but is not limited to this. For example, the cleaning unit 130 includes cleaning members made of various materials such as brushes, sponges, or fabrics, and the cleaning members are brought into close contact with the surface of the welded portion of the tank inner wall 11 (FIGS. 5, 12) and then rotated to shake off foreign substances. It can be removed, but is not limited to this.

The cleaning unit 130 may further include a cleaning liquid spray member to more effectively remove foreign substances (dust, oil, surface oxides, etc.) from the welded portion of the tank inner wall 11 (FIGS. 5 and 12). For example, the cleaning unit 130 may be disposed around the spraying member or inside the cleaning member, but is not limited thereto. At this time, the spray member may spray a cleaning solution containing a highly volatile organic solvent, but is not limited thereto.

The cleaning member of the cleaning unit 130 may provide rotation and forward/backward/up/down/left/right movement at the bottom of the pretreatment robot body 110, but is not limited thereto.

The pretreatment robot 100 may include a sensor unit 140 in front of the pretreatment robot body 110 based on the moving direction, and may include a paint injection unit 150 at the rear of the pretreatment robot body 110. .

The sensor unit 140 may include a sensor capable of recognizing the welded portion of the tank inner wall 11 (FIGS. 5 and 12). For example, the sensor unit 140 can recognize the welded portion (FIGS. 5, 12) by recognizing the difference in appearance between the tank inner wall 11 and the welded portion (FIGS. 5, 12) using a vision sensor, but is not limited to this. . At this time, a deep learning-based object recognition method may be applied to recognize the difference in appearance between the tank inner wall 11 and the welded portion (FIGS. 5 and 12), but is not limited thereto. Accordingly, the pre-treatment robot 100 can recognize the weld zone (FIGS. 5, 12) through the sensor unit 140 and control the pre-treatment robot 100 to move along the weld zone (FIGS. 5, 12). (FIGS. 5, 12) can control the movement of the pre-treatment robot 100 so that it can pass through the central part of the pre-treatment robot 100.

The paint spraying unit 150 can spray paint to the welded area (FIGS. 5 and 12) from which foreign substances have been removed by the cleaning unit 130.

The paint spraying unit 150 may include a paint spray nozzle 151 that protrudes toward the tank inner wall 11 and can spray paint.

The paint sprayed from the paint sprayer 150 through the paint spray nozzle 151 may have a color that makes it easy to determine the arrangement of magnetic particles by a magnetic field during a magnetic particle inspection. For example, when black magnetic particles are used, white paint may be applied, but is not limited thereto.

The paint spraying unit 150 may not spray paint when using magnetic particles containing a fluorescent substance during magnetic particle inspection. This can be selected by the inspector depending on the magnetic particles used in the magnetic particle inspection.

The paint spraying unit 150 may provide front/back/up/down/left/right movement of the paint spray nozzle 151, but is not limited thereto.

The pretreatment robot 100 may include a spray blocking film 160 between the paint spraying unit 150 and the cleaning unit 130. For example, the scattering barrier film 160 is in the form of a partition to prevent foreign substances from flying over to the paint spraying unit 150 when removing foreign substances from the welding zone (FIGS. 5 and 12) in the cleaning unit 130. It can be formed as Accordingly, it is possible to prevent foreign substances, etc. from scattering and adhering to the welded portion (FIGS. 5, 12) from which foreign substances have been removed by the cleaning unit 130.

The pretreatment robot 100 may have a pretreatment robot fastening end coupler 111 formed on the upper portion. For example, the pre-processing robot fastening end coupler 111 is connected to and separated from the pre-processing robot fastening end (FIGS. 5, 240) of the pre-processing robot transfer drone (FIGS. 4 and 5, 200) described above in FIGS. 4 and 5. It can be. Accordingly, the pretreatment robot 100 can be safely attached to the tank inner wall 11 at an accurate position to perform pretreatment work using the pretreatment robot transfer drone 200.

The pre-processing robot 100 may include a pre-processing robot power supply unit 170. For example, the pretreatment robot power supply unit 170 includes an attachment drive unit 120, a cleaning unit 130, a sensor unit 140, a paint injection unit 150, a pretreatment robot wireless transmitting and receiving device 180, and a pretreatment robot operating device. In order to supply power for the operation of various operating parts included in the pretreatment robot 100, such as (190), a non-rechargeable primary battery or a rechargeable secondary battery may be applied, but is not limited thereto.

The pre-processing robot power supply unit 170 may be included in the pre-processing robot body 110, but is not limited thereto.

The pre-processing robot 100 can transmit data generated through the sensor unit 140 using the pre-processing robot wireless transmitting and receiving device 180.

The operation of the pre-processing robot 100 may be controlled by the pre-processing robot operating device 190. For example, the preprocessing robot 100 receives an external signal using the preprocessing robot wireless transmitting and receiving device 180 included in the preprocessing robot body 110 and operates the preprocessing robot 100 through the preprocessing robot operating device 190. Operation can be controlled. In addition, for example, the operation of the preprocessing robot 100 may be controlled by operation logic pre-input to the preprocessing robot operating device 190 included in the preprocessing robot body 110, but is limited thereto. It doesn't work.

The pretreatment robot 100 can be used to remove foreign substances from the welded portion of the tank inner wall 11 (FIGS. 5, 12) as part of the pretreatment work before the magnetic particle inspection, and after the magnetic particle inspection, the welded portion of the tank inner wall 11 (FIGS. 5, 12). 12) It can be used to remove paint and magnetic particles, but this is not limited.

Figure 7 shows a tester according to an embodiment of the present invention.

Referring to FIG. 7 , the tester 300 may include a tester frame 310 and a magnetic particle inspection unit 320.

The tester frame 310 includes a first tester long side frame 311 and a second tester long side frame 312 arranged in parallel to each other, and the first tester long side frame 311 and the second tester long side frame 312 It may include a first inspection device short side frame 313 and a second inspection device short side frame 314 connecting the.

The first inspection device long side frame 311 and the second inspection device long side frame 312 may be curved to correspond to the curvature of the tank inner wall 11, but are not limited thereto.

The first tester long side frame 311 may include a first magnetic particle inspection unit transfer member 319a that can move along the first tester long side frame 311. For example, the first magnetic particle inspection unit transport member 319a may move along the rail formed on the long side frame 311 of the first tester. At this time, the first magnetic particle inspection unit transfer member 319a includes a drive motor and can move along the first tester long side frame 311, but is not limited thereto.

The second tester long side frame 312 may include a second magnetic particle inspection unit transfer member 319b that can move along the second tester long side frame 312. For example, the second magnetic particle inspection unit transport member 319b may move along the rail formed on the long side frame 312 of the second tester. At this time, the second magnetic particle inspection unit transfer member 319b includes a drive motor and can move along the long side frame 312 of the second tester, but is not limited thereto.

The first magnetic particle inspection unit transfer member 319a and the second magnetic particle inspection unit transfer member 319b may be connected to each other by a magnetic particle inspection unit fixture 321. At this time, the magnetic particle inspection unit 320 may be mounted on the magnetic particle inspection unit fixture 321. For example, in the magnetic particle inspection unit 320 mounted on the magnetic particle inspection unit fixture 321, the first magnetic particle inspection unit transfer member 319a moves along the first inspection unit long side frame 311, and the second magnetic particle inspection unit is transferred. The member 319b moves along the long side frame 312 of the second tester, and the magnetic particle inspection unit fixture 321 connecting the first magnetic particle inspection unit transfer member 319a and the second magnetic particle inspection unit transfer member 319b is held together. As it moves, the magnetic particle inspection unit 320 may move within the tester frame 310. Accordingly, the magnetic particle inspection unit 320 can perform a magnetic particle inspection while moving along the welded portion 12.

The magnetic particle inspection unit 320 includes a magnetic particle inspection yoke first terminal, a magnetic particle inspection yoke second terminal, a magnetic particle inspection camera, a light source member, and a magnetic particle injection nozzle to perform a magnetic particle inspection on the portion facing the tank inner wall 11. You can. The magnetic particle inspection unit 320 will be described in detail through FIGS. 8 to 12 described later.

The magnetic particle inspection unit 320 may include an inspection marking machine 323. For example, the magnetic particle inspection unit 320 may include an inspection marking device 323 that can mark the inner wall of the tank 11 by spraying marking liquid. Accordingly, the magnetic particle inspection unit 320 can display the part where an abnormality is detected so that it can be easily identified when performing a magnetic particle inspection.

The magnetic particle inspection unit 320 extends from the outer periphery of the magnetic particle inspection unit 320 toward the tank inner wall 11 and is a light shielding film that can block external light from entering between the magnetic particle inspection unit 320 and the tank inner wall 11. (not shown) may be installed. For example, when performing a magnetic particle inspection using fluorescent magnetic particles in the magnetic particle inspection unit 320, if the light generated from the fluorescent magnetic particles is difficult to read due to external light due to a light source member, the light shielding film is installed. This can facilitate the recognition of light generated from the fluorescent magnetic particles.

The tester frame 310 of the tester 300 may include a tester fixing member 316 at a portion of the tester frame 310 facing the tank inner wall 11. For example, the point where the first inspector long-side frame 311, the first inspector short-side frame 313, and the second inspector short-side frame 314 come into contact, and the second inspector long-side frame 312 and the first inspector short-side frame ( A tester fixing member 316 may be mounted at a point where the short side frame 314 of the second tester 313) and the second tester short side frame 314 are in contact, but the tester fixing member 316 is not limited thereto.

The tester fixing member 316 may be formed to provide adhesion to the tank inner wall 11 and, if necessary, remove the adhesion force so that the tester 300 can be attached to and detached from the tank inner wall 11. For example, the tester holding member 316 may be an electromagnet or magnetic clamp whose magnetic force can be adjusted. Accordingly, it can be effectively attached to and detached from the tank inner wall 11 made of magnetic material. Also, for example, the tester fixing member 316 may be a vacuum suction plate capable of adjusting the vacuum suction force. Accordingly, it can be effectively attached to and detached from the tank inner wall 11, which is not made of a magnetic material.

One or more tester fastening end couplers may be formed on the first tester short-side frame 313 and the second tester short-side frame 314. For example, the tester fastening end coupler is formed on a portion of the first tester short side frame 313 and the second tester short side frame 314 facing in the opposite direction to the tank inner wall 11, and the first tester short side frame ( A tester fastening end coupler 315a may be formed in the second tester short side frame 314, and a tester fastener coupler 315b may be formed in the second tester short side frame 314. Accordingly, using two drones described later in FIGS. 13 and 14, as shown in FIG. 2, an inspection device fastening end of one inspection device transfer drone 400a and a short side frame of the first inspection device of the inspection machine 300 are formed. The inspection machine 300 can be transferred by combining the inspection machine fastening end coupler, and combining the fastening end of another inspection machine transfer drone (400b) with the inspection machine fastening end coupler formed on the short side frame of the second inspection machine of the inspection machine 300. there is. Accordingly, the inspection machine 300 can be transported effectively and stably using the inspection machine transfer drone.

The inspection device 300 may include an inspection camera unit 330. For example, the inspection camera unit 330 is mounted on the inspection camera unit mounting frame 331 fixed to the portion of the first inspection device long side frame 311 and the second inspection device long side frame 312 facing the opposite direction to the tank inner wall 11. ) can be installed. Accordingly, the condition of the tank inner wall 11 to which the inspection device 300 is attached can be confirmed, and the magnetic particle inspection can be monitored.

The inspection device 300 may include an inspection location marking device 317. For example, the inspection device 300 includes an inspection location marking device 317 that can spray marking liquid on the tank inner wall 11 on the outside of the first inspection device long side frame 311 and the second inspection device long side frame 312. may be included. At this time, the inspection machine position marking device 317 may be located near the second inspection machine short side frame 314, but may be positioned so as not to overlap the position of the inspection machine fixing member 316.

Additionally, the inspection device 300 may include an inspection marking detection sensor 318. For example, the tester 300 can detect the marking liquid displayed by the tester position marking device 317 on the tank inner wall 11 outside the first tester long side frame 311 and the second tester long side frame 312. A marking detection sensor 318 may be included in the inspection machine. At this time, the inspection machine marking detection sensor 318 may be located near the first inspection machine short side frame 313, but may be positioned so as not to overlap with the position of the inspection machine fixing member 316.

Accordingly, the inspection machine 300 can display the portion of the inspection machine 300 where inspection has been completed using the inspection machine position marking device 317. In addition, the inspected portion of the inspection device 300 is detected by the inspection machine marking detection sensor 318, and the inspection device 300 is attached to the inspected portion to begin inspection. At this time, the positions of the inspection machine position marking device 317 and the inspection machine marking detection sensor 318 can be adjusted so that the portion where the inspection is completed and the portion where the inspection begins overlap. For example, the position of the inspection machine position marking device 317 and the inspection machine marking detection sensor 318 is moved away from the first inspection device short side frame 313 and the second inspection device short side frame 314, and the inspection machine position marking device 317 and the inspection device The closer the marking detection sensors 318 are placed to each other, the greater the overlap between the part where the inspection is completed and the part where the inspection begins.

The tester 300 may include a windbreak cover (FIGS. 13 and 14, 370) on the tester frame 310. For example, the tester 300 includes a windproof cover (FIGS. 13 and 14, 370) on a portion of the tester frame 310 facing in the opposite direction to the tank inner wall 11, so that the magnetic particle inspection unit 320 is installed in the tank. When performing a magnetic particle inspection on the welded portion 12 of the inner wall 11, it can be protected from being disturbed by drone wind. Accordingly, the tester 300 can accurately perform a magnetic particle inspection.

Additionally, the windbreak cover (FIGS. 13 and 14, 370) may be made of a material that does not transmit light to block external light from entering the tester frame 310. Accordingly, the windbreak cover (FIGS. 13 and 14, 370) can provide a light-shielding effect, allowing the fluorescent magnetic particles to be effectively recognized in a magnetic particle inspection using fluorescent magnetic particles.

The tester 300 may include a tester power supply unit 340. For example, the tester power supply unit 340 includes a magnetic particle test unit 320, a first magnetic particle test unit transfer member 319a, a second magnetic particle test unit transfer member 319b, a tester fixing member 316, and a tester camera unit. (330), a non-rechargeable primary battery or a rechargeable secondary battery may be applied to supply power for the operation of the tester 300, such as the tester wireless transmitting and receiving device 350 and the tester operating device 360, but are limited thereto. It doesn't work.

The tester power supply unit 340 may be included in the tester frame 310, but is not limited thereto.

The tester 300 can transmit data generated through the magnetic particle inspection unit 320 and the tester camera unit 330 using the tester wireless transmitting and receiving device 350.

The operation of the tester 300 may be controlled by the tester operating device 360. For example, the tester 300 can receive an external signal using the tester wireless transmitting and receiving device 350 included in the tester frame 310, and the operation of the tester 300 can be controlled through the tester operating device 360. there is. Additionally, for example, the operation of the tester 300 may be controlled by operation logic pre-entered into the tester operating device 360 included in the tester frame 310, but is not limited thereto.

Hereinafter, the magnetic particle inspection unit 320 will be described in detail through FIGS. 8 to 12.

Figure 8 shows the magnetic particle inspection unit viewed from directions A and B in Figure 7.

In FIG. 8 , for convenience of explanation, the part facing the tank inner wall 11 relative to the magnetic particle inspection unit 320 is defined as the lower part, and the part facing the opposite direction to the tank inner wall 11 is defined as the upper part.

FIG. 8 (a) shows the magnetic particle inspection unit viewed from direction A in FIG. 7, and FIG. 8 (b) shows the magnetic particle inspection unit viewed from direction B in FIG. 7.

Referring to FIG. 8, the magnetic particle inspection unit 320 may include a magnetic particle detection yoke 324, a magnetic particle detection yoke first terminal 325a, a magnetic particle detection yoke second terminal 325b, and a magnetic particle injection nozzle 328. there is.

The magnetic particle inspection unit 320 may include a rotating part 322 below the magnetic particle inspection unit 320. For example, the rotating unit 322 may rotate horizontally below the magnetic particle inspection unit 320. Accordingly, the magnetic particle detection yoke 324 mounted at the bottom of the rotating unit 322 can be horizontally rotated independently of the magnetic particle detection unit 320.

The magnetic particle inspection unit 320 can adjust the up and down positions of the rotating unit 322. Accordingly, the upper and lower positions of the magnetic particle detection yoke 324 mounted at the bottom of the rotating unit 322 can be adjusted, and the first magnetic particle detection yoke is connected to the magnetic particle detection yoke 324 and extends toward the tank inner wall 11. A magnetic particle inspection yoke second terminal (325b) is connected to the terminal (325a) and the magnetic particle inspection yoke (324) and extends toward the tank inner wall (11), but is located at a predetermined distance from the magnetic particle inspection yoke first terminal (325a). It can be brought into contact with the surface of the tank inner wall (11).

The magnetic particle detection yoke 324 may be a part that imparts magnetic force. For example, permanent magnets or electromagnets may be applied, but are not limited thereto. Accordingly, magnetic force can be applied to the first terminal 325a of the magnetic particle detection yoke and the second terminal 325b of the magnetic particle detection yoke connected to the magnetic particle detection yoke 324. For example, the first terminal 325a of the magnetic particle detection yoke may be given an N pole, and the second terminal of the magnetic particle detection yoke 325b may be given an S pole, but the present invention is not limited thereto.

The magnetic particle inspection unit 320 may include a magnetic particle injection nozzle 328. For example, the magnetic particle injection nozzle 328 may spray magnetic particles toward the tank inner wall 11. At this time, the magnetic particle injection nozzle 328 may be positioned between the magnetic particle inspection yoke first terminal 325a and the magnetic particle inspection yoke second terminal 325b to spray magnetic particles. Accordingly, the magnetic particle is effectively influenced by the magnetic field formed by the magnetic particle inspection yoke first terminal 325a and the magnetic particle inspection yoke second terminal 325b, so that the magnetic particle inspection of the welded portion 12 can be effectively performed.

The magnetic particle inspection unit 320 extends downward from the outer periphery of the magnetic particle inspection unit 320 toward the tank inner wall 11 to block external light from entering between the lower part of the magnetic particle inspection unit 320 and the tank inner wall 11. A light shield (not shown) may be installed. For example, when performing a magnetic particle inspection using fluorescent magnetic particles in the magnetic particle inspection unit 320, the light generated from the fluorescent magnetic particles is interrupted by external light by the light source member 327, which will be described later in Figure 9. Reading from the magnetic particle inspection camera 326 may be difficult. At this time, as the magnetic particle inspection unit 320 is equipped with the light shielding film to block the external light, the light generated from the fluorescent magnetic particles can be easily recognized by the magnetic particle inspection camera 326.

Figures 9 and 10 show the lower part of the magnetic particle inspection unit according to an embodiment of the present invention.

Referring to Figures 9 and 10, the magnetic particle inspection unit 320 includes a magnetic particle detection yoke 324, a magnetic particle detection yoke first terminal 325a, a magnetic particle detection yoke second terminal 325b, and a magnetic particle detection camera 326. It may include a light source member 327 and a magnetic particle injection nozzle 328.

The magnetic particle inspection unit 320 includes a circular ring-shaped rotating part 322, and may include a magnetic particle inspection camera 326 and a light source member 327 inside the rotating part 322.

The magnetic particle inspection camera 326 displays the shape in which the magnetic particles sprayed from the magnetic particle injection nozzle 328 on the inner wall of the tank are arranged in the magnetic field formed by the first terminal of the magnetic particle inspection yoke (325a) and the second terminal of the magnetic particle inspection yoke (325b). You can take pictures. Accordingly, it is possible to determine whether the tank inner wall welded portion 12 is abnormal using imaging data acquired from the magnetic particle inspection camera 326.

The magnetic particle inspection camera 326 can be located in a position where it does not interfere with the magnetic particle inspection yoke 324 and the magnetic particle injection nozzle 328, and can be arranged so that it can take pictures by tilting at a certain angle rather than perpendicular to the inner wall of the tank. . Accordingly, the magnetic particle inspection camera 326 is not obstructed by the movement of the magnetic particle inspection yoke 324 and the magnetic particle spray nozzle 328, and the magnetic particle field is captured by tilting the camera at a certain angle rather than perpendicular to the inner wall of the tank. Since the arrangement can be effectively recognized, defects can be easily identified.

A light source member 327 may be disposed around the magnetic particle inspection camera 326. For example, the light source member 327 may be disposed around the magnetic particle inspection camera 326. Accordingly, For example, when performing a magnetic particle inspection using fluorescent magnetic particles, the magnetic particle inspection camera 326 can provide UV light (for example, black light) from the light source member 327. ) is irradiated to help the fluorescent magnetic particles emit light effectively, so that the magnetic particle inspection camera 326 can easily recognize the fluorescent magnetic particles. Accordingly, the magnetic particle inspection unit 320 can effectively perform the magnetic particle inspection. can do.

The magnetic particle inspection unit 320 has a circular ring-shaped rotating unit 322 that can rotate at a certain angle. For example, as shown in FIGS. 10 (a) and 10 (b), it can be repeatedly rotated left and right at a certain angle (for example, 15 degrees). Accordingly, the magnetic particle detection yoke 324 mounted at the bottom of the rotating part 322 rotates at a certain angle, and the magnetic particle detection yoke first terminal 325a connected to the magnetic particle detection yoke 324 based on the welding portion 12 and The position of the second terminal 325b of the magnetic particle detection yoke may change. Accordingly, the magnetic particle inspection unit 320 can apply a magnetic field at various angles to the magnetic particles injected into the welding portion 12 so that the magnetic particles are arranged in response to defects at various angles, thereby preventing damage that may occur in the welding portion 12. Discontinuities can be identified effectively.

Figure 11 shows a magnetic particle inspection unit according to an embodiment of the present invention, and Figure 12 shows the lower part of the magnetic particle inspection unit of Figure 11.

In FIG. 11 , for convenience of explanation, the part facing the inner tank wall 11 relative to the magnetic particle inspection unit 320 is defined as the lower part, and the part facing the opposite direction to the tank inner wall 11 is defined as the upper part.

Referring to FIGS. 11 and 12 , the magnetic particle inspection unit 320 may include a magnetic particle inspection yoke terminal penetration unit at the bottom of the magnetic particle inspection unit 320 .

The magnetic particle inspection unit 320 has a magnetic particle inspection yoke (not shown) located inside the magnetic particle inspection unit 320, and the magnetic particle inspection yoke first terminal 325a and the magnetic particle inspection yoke second terminal 325b penetrate the magnetic particle inspection yoke terminal. It may extend to the lower part of the magnetic particle inspection unit 320 through the unit. For example, the magnetic particle inspection yoke first terminal 325a may pass through the first magnetic particle inspection yoke terminal penetration portion 329a and extend to the lower part of the magnetic particle inspection unit 320 to contact the surface of the tank inner wall 11. In addition, the second terminal of the magnetic particle inspection yoke (325b) may pass through the second magnetic particle inspection yoke terminal penetration portion (329b) and extend to the lower part of the magnetic particle inspection unit (320) to contact the surface of the tank inner wall (11). At this time, the magnetic particle inspection unit 320 adjusts the upper and lower positions of the magnetic particle inspection yoke (not shown) located inside the magnetic particle inspection unit 320 to connect the magnetic particle inspection yoke first terminal 325a and the magnetic particle inspection yoke second terminal ( The upper/lower position of 325b) can be adjusted. In addition, the magnetic particle inspection unit 320 rotates the magnetic particle detection yoke (not shown) located inside the magnetic particle detection unit 320, thereby rotating the magnetic particle detection yoke first terminal 325a and the magnetic particle detection yoke second terminal 325b. You can do it. Accordingly, the magnetic particle inspection unit 320 can increase the degree of freedom in arranging the magnetic particle inspection camera 326, the light source member 327, and the magnetic particle injection nozzle 328 below the magnetic particle inspection unit 320.

Figures 13 and 14 show an inspection machine transport drone according to an embodiment of the present invention.

In FIGS. 13 and 14 , for convenience of explanation, the direction facing the tank inner wall 11 based on the inspection machine transfer drone 400 is defined as the front, and the direction opposite to the tank inner wall 11 is defined as the rear.

Referring to FIG. 13, the tester transfer drone 400 includes a tester transfer drone arm 420 and a tester fastening end 440 included in the tester transfer drone arm 420, and the tester transfer drone 400 is used to The inspection device 300 can be transported.

The inspection device transfer drone 400 may include an inspection device transfer drone arm 420 located below the inspection device transfer drone body 410.

The inspection machine transfer drone arm 420 is a first inspection device whose upper end is fixed to the lower part of the inspection machine transportation drone body 410, extends downward to the inspection machine transportation drone 400, and has the inspection machine transportation drone arm joint 424 mounted at the bottom. It may include a transfer drone arm 421.

The inspection device transfer drone arm joint 424 mounted at the bottom of the first inspection device transfer drone arm 421 can rotate about the first inspection device transfer drone arm 421, but is not limited to this.

In addition, the tester transfer drone arm 420 has one end fixed to the tester transfer drone arm joint 424, extends horizontally, and includes a second tester transfer drone arm 422 including a tester fastening end 440 at the other end. ) may include.

The second tester transfer drone arm 422 includes a tester fastening end 440, and may further include a tester fastening end buffer member 450 behind the tester fastening end 440. Accordingly, when attaching the inspection device 300 to the tank inner wall 11, the impact transmitted through the second inspection device transfer drone arm 422 can be alleviated.

The tester fastening end 440 may be fastened to the tester fastening end coupler 315 of the tester 300. Accordingly, the tester 300 can be accurately and safely positioned on the tank inner wall 11 for performing a magnetic particle inspection using the tester transfer drone 400.

The tester fastening end 440 may be connected to the tester fastening end coupler 315 and the tester fixing wire 460. For example, referring to FIG. 14, the tester transport drone 400 attaches the tester 300 to the tank inner wall 11 and then attaches the tester 300 to the tester fastening end coupler 315 for stable operation of the tester 300. The fastening end 440 can be separated and moved away from the tester 400. At this time, the tester fastening end 440 and the tester fastening end coupler 315 may be connected to the tester fixing wire 460 in order to efficiently guide the coupling position when reconnected. In addition, the tester fastening end 440 and the tester fastening end coupler 315 are connected to the tester fixing wire 460 to prevent a fall due to malfunction of the tester 300 separated from the tester transport drone 400. .

Referring again to FIG. 13, one end of the inspection machine transfer drone arm 420 is fixed in the opposite direction of the point where the second inspection machine transportation drone arm 422 is fixed at the inspection machine transportation drone arm joint 424, and extends horizontally. It may include a third inspection machine transfer drone arm 423 on which a counterweight 430 of the inspection machine transfer drone arm is mounted on the other end.

Accordingly, the second inspection machine transfer drone arm 422 and the third inspection machine transportation drone arm 423 maintain weight balance based on the inspection machine transportation drone arm joint 424 to ensure the stability of the movement of the inspection machine transportation drone 400. It can be secured.

The length of the first inspection device transfer drone arm 421, the second inspection device transfer drone arm 422, and the third inspection device transfer drone arm 423 is adjustable. For example, the first inspection device transfer drone arm 421, the second inspection device transportation drone arm 422, and the third inspection device transportation drone arm 423 may be in the form of a multi-stage hydraulic cylinder whose length can be adjusted, but is not limited thereto. .

The tester transfer drone body 410 of the tester transfer drone 400 may be equipped with a tester transfer drone camera 411 that can check the magnetic particle inspection work on the outside of the tester transfer drone body 410. For example, the inspection machine transport drone camera 411 includes an optical camera and can check the position and status of the tank inner wall 11, the welding portion 12, and the inspection machine 300.

The tester transfer drone body 410 may include a tester transfer drone wireless transmitting and receiving device 412 and a tester transfer drone operating device 413.

The tester transfer drone 400 can transmit data generated through the tester transfer drone camera 411 using the tester transfer drone wireless transmitting and receiving device 412.

The operation of the inspection machine transfer drone 400 may be controlled by the inspection machine transportation drone operating device 413. For example, the inspection machine transfer drone 400 can receive an external signal using the inspector transfer drone wireless transmitting and receiving device 412, and the operation of the inspection machine transport drone 400 can be controlled through the inspection machine transport drone operating device 413. there is. Additionally, for example, the operation of the inspection machine transfer drone 400 may be controlled by operation logic pre-entered into the inspection machine transportation drone operating device 413, but is not limited thereto.

As described above, the specific description of the present invention has been made by way of examples with reference to the accompanying drawings. However, since the above-described embodiments are only explained by referring to preferred examples of the present invention, the present invention is limited to the above examples. It should not be understood, and the scope of rights of the present invention should be understood in terms of the claims and equivalent concepts described later.

For example, to aid understanding, drawings schematically show each component as the main component, and the thickness, length, number, etc. of each component shown may differ from the actual drawing during the drawing process. In addition, the materials, shapes, dimensions, etc. of each component shown in the above embodiments are only examples and are not particularly limited, and various changes are possible without substantially departing from the effect of the present invention.

1: storage tank 10: internal tank
11: Tank inner wall 12: Welded portion
100: pre-processing robot 110: pre-processing robot body
111: Pretreatment robot fastening end coupler 120: Attachment drive unit
130: cleaning unit 140: sensor unit
150: Paint spraying unit 151: Paint spraying nozzle
160: Flying product blocking film 170: Pretreatment robot power supply unit
180: Pre-processing robot wireless transmitting and receiving device 190: Pre-processing robot operating device
200: Pre-processing robot transfer drone 210: Pre-processing robot transfer drone body
211: Pre-processing robot transfer drone camera
212: Preprocessing robot transfer drone wireless transmitting and receiving device
213: Preprocessing robot transfer drone operating device
220: Preprocessing robot transfer drone arm
221: First preprocessing robot transfer drone arm
222: Second preprocessing robot transfer drone arm
223: Third preprocessing robot transfer drone arm
224: Preprocessing robot transfer drone arm joint
230: Preprocessing robot transfer drone counterweight
240: Pre-treatment robot fastening end
250: Pre-treatment robot fastening end buffer member
260: Pretreatment robot fixing wire
300: Inspector 310: Inspector frame
311: first inspection machine long side frame 312: second inspection device long side frame
313: 1st inspection machine short side frame 314: 2nd inspection machine short side frame
315, 315a, 315b: Inspection machine fastening end coupler
316: Inspection machine fixing member 317: Inspection machine position marking machine
318: Inspection machine marking detection sensor 319a: First magnetic particle inspection unit transfer member
319b: Second magnetic particle inspection unit transfer member 320: Magnetic particle inspection unit
321: Magnetic particle inspection unit fixture 322: Rotating unit
323: Inspection marking machine 324: Magnetic particle inspection yoke
325a: 1st terminal of magnetic particle detection yoke 325b: 2nd terminal of magnetic particle detection yoke
326: Magnetic particle inspection camera 327: Light source member
328: Magnetic particle spray nozzle 329a: First magnetic particle inspection yoke terminal penetration part
329b: Second magnetic particle inspection yoke terminal penetration part 330: Inspection camera part
331: Tester camera unit mounting frame 340: Tester power supply unit
350: Inspection device wireless transmitting and receiving device 360: Inspection device operating device
370: Windproof cover
400, 400a, 400b: Inspection machine transfer drone 410: Inspection machine transfer drone body
411: Inspection machine transfer drone camera
412: Inspection machine transfer drone wireless transmitting and receiving device
413: Inspection device transfer drone operating device 420: Inspection device transfer drone arm
421: First inspection device transfer drone arm 422: Second inspection device transfer drone arm
423: Third inspection machine transfer drone arm 424: Inspection machine transfer drone arm joint
430: Inspection machine transfer drone counterweight 440: Inspection device fastening end
450: Tester fastening end buffer member 460: Tester fixing wire

Claims (10)

In magnetic particle inspection of hazardous materials storage tanks using drones,
A pretreatment robot that includes a cleaning unit, is attached to the inner wall of the tank, travels, and performs pretreatment work;
An inspection device comprising an inspection device frame including an inspection device fixing member that provides an adhesive force to attach to the inner wall of the tank and a magnetic particle inspection unit, wherein the pre-treatment robot performs a magnetic particle inspection of the inner wall of the tank on which the pre-treatment work has been completed;
A pre-processing robot transfer drone that transfers the pre-processing robot, including a pre-processing robot fastening end coupled to the pre-processing robot; and
It includes a tester transport drone that transports the tester, including a tester fastening end fastened to the tester,
The pre-processing robot is formed with a pre-processing robot fastening end coupler that is connected to and separated from the pre-processing robot fastening end of the pre-processing robot transfer drone,
The pre-processing robot fastening end of the pre-processing robot transfer drone is connected to the pre-processing robot fastening end coupler and a pre-processing robot fixing wire, and the pre-processing robot transfer drone uses the pre-processing robot fixing wire to determine the path and position of the pre-processing robot. adjust,
The tester includes a windproof cover on the tester frame to protect it from being disturbed by drone wind generated from the tester transport drone when performing the magnetic particle inspection.
Magnetic particle inspection system for hazardous materials storage tanks using drones.
In claim 1,
The preprocessing robot is,
an attachment drive unit that provides attachment force and driving force so that the pretreatment robot is attached to the inner wall of the tank and travels; and
Including a sensor unit that detects a weld in front of the moving direction, which is attached to the inner wall of the tank and performs the pretreatment work along the weld.
Magnetic particle inspection system for hazardous materials storage tanks using drones.
delete In claim 1,
The tester frame includes a first tester long-side frame and a second tester long-side frame arranged in parallel to each other,
A first magnetic particle inspection unit transfer member moving along the long side frame of the first inspection device;
a second magnetic particle inspection unit transport member moving along the long side frame of the second tester; and
It includes a magnetic particle inspection unit fixture connecting the first magnetic particle inspection unit transfer member and the second magnetic particle inspection unit transfer member,
The magnetic particle inspection unit is mounted on the magnetic particle inspection unit fixture, the magnetic particle inspection unit fixture moves by the movement of the first magnetic particle inspection unit transfer member and the second magnetic particle inspection unit transfer member, and the magnetic particle inspection unit is moved by the inspection unit. moving within the frame,
Magnetic particle inspection system for hazardous materials storage tanks using drones.
In claim 4,
The checker frame is,
a first inspection device short-side frame connecting the first inspection device long-side frame and the second inspection device long-side frame; and
a second inspection device short-side frame connecting the first inspection device long-side frame and the second inspection device long-side frame; Including,
A tester fastening end coupler is formed on the first tester short-side frame and the second tester short-side frame, which is fastened to and separated from the tester fastening end of the tester transport drone.
Magnetic particle inspection system for hazardous materials storage tanks using drones.
In claim 1,
The magnetic particle inspection unit,
A first terminal of the magnetic particle detection yoke connected to a magnetic particle detection yoke that provides magnetic force and extending toward the inner wall of the tank;
a second terminal of the magnetic particle detection yoke connected to the magnetic particle detection yoke and extending toward the inner wall of the tank and positioned at a predetermined distance from the first terminal of the magnetic particle detection yoke;
a magnetic particle injection nozzle located between the first terminal of the magnetic particle detection yoke and the second terminal of the magnetic particle detection yoke, and spraying magnetic particles toward the inner wall of the tank;
a magnetic particle inspection camera facing the inner wall of the tank and positioned at a predetermined distance from the magnetic particle injection nozzle; and
A light source member disposed around the magnetic particle inspection camera; including
Magnetic particle inspection system for hazardous materials storage tanks using drones.
delete In claim 1,
The preprocessing robot transfer drone is,
Pre-processing robot transfer drone body; and
A pre-processing robot transfer drone arm included in the lower part of the pre-processing robot transfer drone body and including the pre-processing robot fastening end.
Magnetic particle inspection system for hazardous materials storage tanks using drones.
In claim 1,
The inspection transport drone is,
Inspection machine transport drone body; and
a tester transfer drone arm included in the lower part of the tester transfer drone body and including the tester fastening end; Including,
Magnetic particle inspection system for hazardous materials storage tanks using drones.
delete