KR20160015994A - Inspection robot for riser - Google Patents

Abstract

An underwater pipe inspection apparatus is disclosed. The apparatus for inspecting an underwater pipe according to an embodiment of the present invention includes a robot main body unit arranged in a pipe installed in water and provided with a passage for moving along a pipe, And an inspection unit mounted on the robot body unit for inspecting the pipe. Such an underwater pipe inspection apparatus can travel alone along a pipe without an ROV, thereby reducing the operational cost and speeding up the inspection of the pipe.

Description

[0001] INSPECTION ROBOT FOR RISER [0002]

The present invention relates to a pipe inspection apparatus, and more particularly, to an inspection apparatus capable of inspecting a riser disposed by an underwater pipe.

Pipelines that connect regions or countries separated by water, such as rivers or the sea, have gradually spread. In particular, along with the development of shipbuilding marine industry, various drilling equipments such as risers are buried or installed in water. However, due to the nature of the undersea pipe such as the riser, the recovery cost for the environmental destruction increases when the destruction occurs, and the productivity is lowered due to the interruption of the work. Therefore, in order to solve this problem, It is necessary to conduct an inspection.

In this regard, the conventional underwater pipe inspection apparatus, particularly the riser inspection apparatus, uses ROV as a moving method for inspecting the entire riser. ROV is an unmanned underwater probe that can be remotely controlled.

As described above, the conventional riser inspecting apparatus is an inspection apparatus which can be moved by the ROV without a driving function, and is adapted to receive and transmit the power / control signal through the ROV.

That is, the function of the equipment itself must be added to the ROV so that the inspection robot can perform the inspection alone, and the system for checking the condition of the riser is operated in conjunction with the ROV.

Such a conventional riser inspection apparatus is a system for moving an inspection apparatus using a ROV for a riser inspection. This method has the disadvantage that the operation cost is increased due to the rental cost of the ROV equipment and a professional operator.

Also, since the riser is fixed by the simple compression method instead of the wheel system, it is impossible to travel along the riser without the ROV. In order to move the sensor, the entire bottom surface of the housing must be made into a gear system, .

Korean Patent Application No. 10-2009-45910

An embodiment of the present invention is to provide an underwater pipe inspection apparatus capable of running alone along a water pipe such as a riser without ROV, thereby reducing operational costs and promptly inspecting an underwater pipe.

According to an aspect of the present invention, there is provided a robot body unit comprising: a robot main body unit disposed in a water pipe and provided with a passage so as to be movable along the pipe; A propulsion unit disposed in the robot body unit to provide propulsion force by seawater to the robot body unit; And an inspection unit mounted on the robot main body unit to inspect the pipe may be provided.

The propulsion unit may include a propeller for generating a propulsive force.

The propulsion unit comprising: a propelling body disposed in the robot body unit corresponding to the propeller; And a propulsion unit mounted on the propelling body to drive the propeller.

The propulsion unit may further include a propelling bracket disposed at a predetermined interval in the robot body unit and coupling the propelling body to the robot body unit.

The above-mentioned underwater pipe inspection apparatus may further include at least one guide wheel unit each having a wheel contacting the pipe, and guiding the movement of the robot main body unit.

The guide wheel unit includes a wheel guide body for fixing the wheel to the robot body unit; And a wheel support portion provided on the wheel guide body such that the wheel is rotatably coupled and the wheel is supported by the wheel guide body.

The wheel support portion includes a wheel frame to which the wheel is rotatably engaged; A plurality of link members rotatably coupling the wheel frame to the wheel guide body; And an adjustment cylinder coupled to the wheel guide body and the wheel frame to limit rotational movement of the wheel frame relative to the wheel guide body.

The wheel support portion includes a link fork having one end rotatably coupled to the wheel frame and the other end rotatably coupled to the wheel; And a wheel damper provided between the wheel frame and the link fork to buffer the impact applied to the link fork.

The guide wheel unit may be disposed on the upper and lower inner wall portions of the robot body unit along three or more circumferential directions.

Wherein the inspection unit comprises: an annular inspection unit arranged to surround the pipe in a predetermined range; An annular moving part in which the annular test part is movably coupled in a circumferential direction; And an inspection module disposed in the annular inspection unit and performing inspection of the pipe.

The annular testing unit may include: an annular moving member disposed on both sides of the inspection module, the annular moving member being provided in an annular shape and having an annular gear along an annular direction; And a test drive module having a rotary gear that is gear-engaged with the annular gear of the annular moving member and a rotary motor that drives the rotary gear.

The annular moving member may be provided with guide grooves along the annular direction, and the inspection driving module may be provided with guide protrusions slidably engaged with the guide grooves.

Wherein the robot main body unit comprises: a plurality of robot main body members provided so that the passages are arranged at a central portion; And a plurality of body coupling members for coupling the robot body members to each other, wherein one of the plurality of robot body members is rotatably coupled to any one of the plurality of body coupling members to open the passage have.

Wherein the robot main body unit has one end rotatably coupled to the robot body member and the other end rotatably coupled to the main body engaging member so that when the robot main body member rotates with respect to the main body engaging member, Closing cylinder for limiting the rotation of the main body.

According to another aspect of the present invention, there is provided a robot comprising: a robot main body unit disposed in a pipe installed in water and provided with a passage so as to be movable along the pipe; A propulsion unit provided on the robot body unit for rotatably operating to provide propulsion force by seawater to the robot body unit and to determine a propulsion direction of the robot body unit; And an inspection unit mounted on the robot main unit to inspect the riser.

The propulsion unit includes: a propeller for generating propulsion; A propelling body rotatably coupled to the robot body unit corresponding to the propeller; A propulsion unit mounted on the propelling body to drive the propeller; And a rotation operation unit provided between the propulsion body and the robot body unit to rotate the propulsion body.

The above-mentioned underwater pipe inspection apparatus may further include at least one guide wheel unit each having a wheel contacting the pipe, and guiding the movement of the robot main body unit.

The guide wheel unit includes a wheel guide body which is provided in a caster structure, fixes the wheel to the robot body unit and is rotatably coupled to the robot body unit, And a wheel support portion provided on the wheel guide body such that the wheel is rotatably coupled and the wheel is supported by the wheel guide body.

The wheel may be provided in a spherical shape.

According to another aspect of the present invention, there is provided a robot main body unit comprising: a robot main body unit disposed in a water pipe, provided with a passage for moving along the pipe; A first propelling unit provided on the robot body unit to provide the propelling force using seawater to the robot body unit and to move the robot body unit along the pipe; A second propulsion unit provided on the robot body unit to rotate the robot body unit about an axis of the pipe, the propulsion unit providing the propulsion unit using the seawater to the robot body unit; And an inspection unit mounted on the robot main body unit to inspect the pipe may be provided.

According to an embodiment of the present invention, there is provided an underwater pipe inspection apparatus capable of traveling along an underwater pipe such as a riser alone without an ROV, thereby reducing the cost of ROV operation and promptly inspecting an underwater pipe .

1 is a perspective view in which an underwater pipe inspection apparatus according to an embodiment of the present invention is arranged in a riser.
Fig. 2 is a plan view of Fig. 1. Fig.
3 is an operational state diagram of Fig.
Fig. 4 is a perspective view of the wheel drive unit of Fig. 1. Fig.
Fig. 5 is a perspective view of the annular inspection portion of Fig. 1;
6 is a cross-sectional view taken along line II of the environmental inspection section of Fig.
Fig. 7 is another embodiment of Fig.
Fig. 8 is another embodiment of Fig.

Various embodiments of the present invention will now be described by way of specific embodiments shown in the accompanying drawings. The differences between the embodiments of the present invention described below are to be understood as mutually exclusive. That is, the specific shapes, structures, and characteristics described may be embodied in other embodiments in accordance with one embodiment without departing from the spirit and scope of the present invention, It is to be understood that the arrangements may be altered, where like reference numerals refer to like or similar features throughout the several views, and length and area, thickness, and the like may be exaggerated for convenience.

1 and 3, an apparatus for inspecting a riser, which is an example of an underwater pipe, is provided in a riser 100, and includes a riser 100 A propulsion unit 120 disposed in the robot body unit 101 to provide propulsion force by the seawater to the robot body unit 101; And an inspection unit 150 mounted on the robot main body unit 101 to inspect the riser 100. [

Since the underwater pipe inspection apparatus according to the present embodiment can run alone along the riser 100 without the ROV, the operation cost can be reduced and the inspection of the riser 100 can be performed quickly.

That is, the underwater pipe inspection apparatus according to the present embodiment can move along the riser 100 by the propulsion unit 120 disposed on the outer side of the passage 105 provided in the robot main body unit 101.

The propulsion unit 120 at this time uses propeller 121 as described below as a method of pushing and pushing seawater, but the scope of the present invention is not limited thereto, It is also possible to spray water by suction.

According to this embodiment, when the robot main body unit 101 moves along the riser 100, the inspection of the riser 100 is performed by the inspection unit 150 arranged in the robot main body unit 101, It is possible to diagnose the clogging and the occurrence of cracks in the inside of the substrate 100. The inspection unit 150 at this time may be provided with a non-destructive inspection apparatus having a non-destructive inspection function such as ultrasonic wave or magnetic flaw detection, an X-ray inspection apparatus, and a laser inspection apparatus.

Hereinafter, the main components of the underwater pipe inspection apparatus according to an embodiment of the present invention will be described in more detail with reference to FIGS. 4 to 8. FIG.

1 to 3, the robot main body unit 101 according to the present embodiment includes a plurality of robot main body members 107 provided so that the passages 105 are arranged at the central portion, And may include a plurality of body coupling members 108 for mutually coupling.

The propulsion unit 120 according to this embodiment disposed in the robot main body unit 101 includes a propeller 121 for generating a propulsion force in the direction along the riser 100 at the outer periphery of the robot main body unit 101, ).

The propeller 121 provides a propelling force for moving the robot body unit 101 along the riser 100 and may be disposed at a predetermined angle interval on the outer periphery of the robot body unit 101.

The propulsion unit 120 includes a propelling body 122 disposed in the robot body unit 101 in correspondence with the propeller 121 and a propulsion unit 122 mounted on the propelling body 122 to drive the propeller 121. [ (125).

The propelling body 122 is provided in an annular shape so as to be able to protect the propeller 121 and is connected to the propulsion driving part 125. The propelling drive unit 125 is connected to the propelling body 122 to drive the propeller 121 rotatably coupled to the propelling body 122 and is driven by the propelling bracket 127, (101).

The propelling unit 120 may further include a propelling bracket 127 disposed at a predetermined interval in the robot body unit 101 and coupling the propelling body 122 to the robot body unit 101. The propelling bracket 127 is provided so as to be capable of being bolted to the robot main body 101.

Referring to FIG. 4, the underwater pipe inspection apparatus according to the present embodiment configured as described above includes a plurality of guide wheel units (not shown) each having wheels that contact the riser 100 to guide movement of the robot body unit 101, (130).

The guide wheel unit 130 is disposed around the riser 100 from the inside of the robot main body unit 101. That is, the guide wheel unit 130 may be disposed on the upper and lower inner wall portions of the robot main body 101 along three or more circumferential directions.

The guide wheel unit 130 according to the present embodiment includes a wheel guide body 131 for fixing the wheel to the robot body unit 101 and a wheel guide body 131 for coupling the wheel to the wheel guide body 131 And a wheel support 135 provided on the wheel guide body 131 so as to be supported.

The wheel guide main body 131 is provided at a right angle to the upper and lower ends of the robot main body unit 101 so as to be coupled thereto and can be bolted to the robot main body unit 101.

According to the present embodiment, the guide wheel units 130 can be arranged at plural intervals in the robot main body unit 101 in the vertical position at intervals of 120 degrees. The plurality of guide wheel units 130 may be installed at intervals of 120 degrees, and four wheels may be disposed at intervals of 90 degrees.

The wheel support portion 135 according to the present embodiment includes a wheel frame 136 to which the wheel is rotatably engaged and a plurality of link members (not shown) for rotatably coupling the wheel frame 136 to the wheel guide body 131 137 and an adjustment cylinder 138 coupled to the wheel guide body 131 and the wheel frame 136 to limit rotational movement of the wheel frame 136 relative to the wheel guide body 131. [

The wheel frame 136 is rotatably coupled to the wheel guide body 131 by a pair of link members 137 disposed on both sides of the wheel guide body 131. The rotation of the wheel frame 136 can be limited by being supported by the adjustment cylinder 138 .

That is, the distance between the wheel frame 136 and the wheel guide body 131 can be adjusted by the adjustment cylinder 138. [ The adjusting cylinder 138 may be a hydraulic or pneumatic cylinder and may be disposed between the wheel frame 136 and the wheel guide body 131 by a moving distance of the rod from the cylinder body determined according to the diameter of the riser 100. [ So that the wheel can be properly brought into contact with the riser 100.

The wheel support portion 135 according to the present embodiment includes a link fork 139 having one end rotatably coupled to the wheel frame 136 and the other end rotatably coupled to the wheel, And a wheel damper 140 provided between the wheel frame 136 and the link fork 139 so as to shock the vehicle.

The link fork 139 is provided in a fork structure in which the wheel can be substantially rotatably engaged and is rotatably coupled to the wheel frame 136 to allow rotational movement of the wheel in response to an impact applied to the wheel . At this time, the impact applied to the wheel can be completely absorbed by the wheel damper 140 and can be annihilated.

5 and 6, the inspection unit 150 includes an annular inspecting unit 151 arranged to surround the riser 100 in a predetermined range, and an annular inspecting unit 151 in which the annular inspecting unit 151 is movably coupled in the circumferential direction. And an inspection module 170 arranged in the annular inspecting unit 151 to perform inspection of the riser 100. [

In this case, the annular inspection unit 151 may be provided with a limit module 165 that applies a physical limitation to define a boundary for the left / right rotation movement of the inspection module 170. [ The limit module 165 can be limited in rotational movement by the inspection drive module 155, which will be described later.

The annular inspecting unit 151 includes an annular moving member 152 disposed on both sides of the inspection module 170 and provided in an annular shape and having an annular gear 153 along the annular direction, And an inspection drive module 155 having a rotation gear 156 to be engaged with the annular gear 153 and a rotation motor 157 to drive the rotation gear 156. [

The annular moving member 152 can be moved along the circumferential direction of the riser 100 by driving the rotating gear 156 by driving the rotating motor 157 and moving the annular gear 153, The inspecting of the riser 100 can be carried out while the movable member 170 is moved in the same direction.

The annular moving member 152 is provided with a guide groove 158 along the annular direction and the inspection drive module 155 may be provided with a guide protrusion 159 which is slidably engaged with the guide groove 158. Accordingly, the annular moving member 152 can be moved in the annular direction to the test drive module 155 while being restricted in mobility.

The inspection unit 150 according to the present embodiment includes an upper guide member (not shown) provided to guide the annular moving member 152 in the longitudinal direction of the riser 100, And an up-down driving module 162 disposed in the inspection driving module 155 to move the inspection driving module 155 in the longitudinal direction of the inspection driving module 155.

The upper and lower guide members (not shown) and the up / down drive module 162 are components that can provide mobility in the longitudinal direction along the riser 100 with respect to the inspection module 170 described above. The annular moving member 152 is moved together with the annular moving member 152 when the inspection driving module 155 is moved along the upper and lower guide members (not shown) while the robot main unit 101 is stopped, The inspection module 170 disposed on both sides of the riser 100 may be moved along the riser 100 to perform a close inspection on the riser 100. [

Movement of the inspection drive module 155 along the upper and lower guide members (not shown) is enabled by the up / down drive module 162. The up-and-down driving module 162 may include a linear motor or a lead screw structure, though not shown, along a vertical guide member (not shown).

2 and 3, any one of the plurality of robot body members 107 may be rotatably coupled to any one of the plurality of body coupling members so as to open the passage 105. [

One end of the robot body unit 101 according to the present embodiment is rotatably coupled to the robot body member 107 and the other end of the robot body unit 101 is rotatably coupled to the body coupling member 108, Closing cylinder 109 for restricting the rotation of the robot body member 107 when the robot body member 107 is rotated.

The robot main body unit 101 can be movably installed in the riser 100 by opening the passage 105 after one robot body member 107 is rotated and the main body opening and closing cylinder 109 It is possible not only to open the passage 105 by rotating the robot body member 107 but also to support an excessive rotation of the robot body member 107 when the robot body member 107 rotates.

Hereinafter, an underwater pipe inspection apparatus according to another embodiment will be described with reference to FIG. The underwater pipe inspection apparatus according to another embodiment of the present invention includes the above-described underwater pipe inspection apparatus, the robot body unit 101 and the inspection unit 150, The guide wheel unit 130 will be described in detail.

7, the underwater pipe inspection apparatus according to another embodiment of the present invention includes a robot main body unit 101 (hereinafter, referred to as " robot ") having a passage 105 arranged in the riser 100 and movable along the riser 100 A propulsion unit 120 provided on the robot main unit 101 so as to be rotatable to determine the propulsion direction of the robot main body unit 101 and to provide propulsion force by the seawater to the robot main body unit 101, And an inspection unit 150 mounted on the robot main body unit 101 for inspecting the riser 100.

The apparatus for inspecting an underwater pipe according to this another embodiment is capable of not only moving the robot main body unit 101 along the riser 100 by the propulsion unit 120 but also rotating the robot main body unit 101 about the axis of the riser 100 The inspection by the inspection unit 150 can proceed.

The propelling unit 120 for this purpose includes a propeller 121 generating propulsion force, a propelling body 122 rotatably coupled to the robot body unit 101 in accordance with the propeller 121, A propelling part 125 mounted on the propelling body 122 for driving the propelling body 122 and a rotary actuating part 185 provided between the propelling body 122 and the robot body unit 101 for rotating the propelling body 122 ).

That is, the propelling direction of the propeller 121 is changed such that the propelling direction is rotated in the direction oblique to the axis of the riser 100 in the axial direction of the riser 100 by the rotation of the propelling body 122 by the rotational operation portion 185 . The robot main body unit 101 can be moved along the riser 100 while being rotated about the axis of the riser 100. [

In addition, some of the plurality of propulsion units 120 may be rotated to impart rotational force to the robot body unit 101, while others may provide thrust along the riser 100 without rotation.

The apparatus for inspecting an underwater pipe according to another embodiment of the present invention may further include a plurality of guide wheel units 130 each having wheels that contact the riser 100 to guide the movement of the robot body unit 101.

The guide wheel unit 130 at this time may be provided in a caster structure. That is, a caster in which the rotation center line is rotated in accordance with the moving direction of the robot main unit 101. [ These casters are mainly installed in the market cart and the chair, and the wheels are rotated according to the moving direction.

That is, according to another embodiment of the present invention, when the robot body unit 101 is rotated while being moved along the riser 100, the underwater pipe inspection apparatus according to another embodiment is suitable in a direction in which the resistance of the wheels of the guide wheel unit 130 is reduced .

The guide wheel unit 130 according to another embodiment of the present invention includes a wheel guide body 131 that fixes the wheel to the robot body unit 101 and is rotatably coupled to the robot body unit 101, And may include a wheel support 135 provided on the wheel guide body 131 so that the wheel is supported by the wheel guide body 131. The wheel support portion 135 may be configured as the wheel support portion 135 described above.

Meanwhile, the wheels are shown as conventional circular wheels, but are not limited thereto and may be provided in a spherical shape. The spherical wheel is rotatably coupled to the wheel guide main body 131 to naturally provide the rolling contact with the riser 100 according to the moving direction of the robot main unit 101. [

Hereinafter, an underwater pipe inspection apparatus according to still another embodiment will be described with reference to FIG. In the underwater pipe inspection apparatus according to another embodiment of the present invention, the above-described underwater pipe inspection apparatus, the robot body unit 101 and the inspection unit 150 are omitted, And the guide wheel unit 130 will be described in detail.

The apparatus for inspecting an underwater pipe according to another embodiment of the present invention is provided with a passage 105 disposed in the riser 100 so as to be movable along the riser 100, And a robot body unit 101 provided in the robot body unit 101 so as to be able to move the robot body unit 101 along the riser 100 by providing thrust force to the robot body unit 101 using seawater, A first propelling unit 191 and a robot body unit 101 for providing propulsion force using seawater to the robot body unit 101 and for rotating the robot body unit 101 about the axis of the riser 100, And an inspection unit 150 mounted on the robot main body unit 101 for inspecting the riser 100. The inspection unit 150 is installed in the robot main body 101,

The apparatus for inspecting an underwater pipe according to this another embodiment is characterized in that the robot main body unit 101 can be moved along the riser 100 by the first propelling unit 191 and the second propelling unit 192 is operated The inspector unit 150 can proceed to inspect the entire riser 100 while being rotated along the riser 100. [

That is, the first propelling unit 191 and the second propelling unit 192 provide a driving force in a direction intersecting with each other, whereby the robot main body unit 101 is moved along the riser 100, 100, respectively. The inspection unit 150 can perform the inspection of the entire riser 100 by the movement of the robot main body unit 101. [

In the underwater pipe inspection apparatus according to another embodiment of the present invention, the guide wheel unit 130 is omitted, but a caster capable of rolling contact or rolling contact with the inner wall of the robot main body unit 101, Can be provided.

While the present invention has been particularly shown and described with reference to exemplary embodiments thereof, it will be understood by those skilled in the art that various changes and modifications may be made therein without departing from the spirit and scope of the invention as defined by the appended claims. Deletion, addition or the like of the present invention may be variously modified and changed within the scope of the present invention.

100: Riser 101: Robot main unit
105: passage 107: robot body member
108: body coupling member 109: body opening / closing cylinder
120: propelling unit 121: propeller
122: propelling body 125: propulsion drive
127: Propelling bracket 130: Guide wheel unit
131: wheel guide body 133: wheel
135: wheel support
136: Wheel frame 137: Link member
138: Adjusting cylinder 139: Link fork
140: Wheel damper 150: Inspection unit
151: annular inspecting portion 152: annular moving member
153: Annular gear 155: Test drive module
156: rotary gear 157: rotary motor
158: guide groove 159: guide projection
162: Up and down drive module
165: Limit module 170: Inspection module
185: rotation operation part 191: first propulsion unit
192: 2nd propelling unit

Claims (20)

A robot main body unit arranged in the water pipe and provided with a passage so as to be movable along the pipe;
A propulsion unit disposed in the robot body unit to provide propulsion force by seawater to the robot body unit; And
And an inspection unit mounted on the robot main unit to inspect the pipe. The method according to claim 1,
Wherein the propulsion unit includes a propeller for generating propulsion force. 3. The method of claim 2,
The propulsion unit includes:
A propelling body disposed in the robot body unit corresponding to the propeller; And
And a propulsion unit mounted on the propelling body to drive the propeller. The method of claim 3,
Wherein the propulsion unit further comprises a propelling bracket disposed at a predetermined interval in the robot body unit and coupling the propelling body to the robot body unit. The method according to claim 1,
Further comprising one or more guide wheel units each having a wheel contacting the pipe to guide movement of the robot main body unit. 6. The method of claim 5,
The guide wheel unit includes:
A wheel guide body for fixing the wheel to the robot body unit; And
And a wheel support portion provided on the wheel guide body such that the wheel is rotatably coupled and the wheel is supported by the wheel guide body. The method according to claim 6,
The wheel support portion
A wheel frame in which the wheels are rotatably engaged;
A plurality of link members rotatably coupling the wheel frame to the wheel guide body; And
And an adjusting cylinder coupled to the wheel guide body and the wheel frame to restrict rotational movement of the wheel frame relative to the wheel guide body. 8. The method of claim 7,
The wheel support portion
A link fork having one end rotatably coupled to the wheel frame and the other end rotatably coupled to the wheel; And
And a wheel damper provided between the wheel frame and the link fork so as to buffer an impact applied to the link fork. 6. The method of claim 5,
Wherein at least three guide wheel units are disposed on the upper and lower inner wall portions of the robot main body along the circumferential direction. The method according to claim 1,
The inspection unit includes:
An annular inspecting unit arranged to surround the pipe in a predetermined range;
An annular moving part in which the annular test part is movably coupled in a circumferential direction; And
And an inspection module disposed in the annular inspection unit to perform inspection of the pipe. 11. The method of claim 10,
The annular-
An annular moving member disposed on both sides of the inspection module, the annular moving member having an annular shape and having an annular gear along an annular direction; And
And an inspection drive module including a rotary gear that is gear-coupled to the annular gear of the annular moving member and a rotary motor that drives the rotary gear. 12. The method of claim 11,
Wherein the annular moving member is provided with guide grooves along the annular direction and the inspection drive module is provided with guide protrusions slidably engaged with the guide grooves. The method according to claim 1,
The robot main unit includes:
A plurality of robot body members provided such that the passages are arranged at a central portion; And
And a plurality of body coupling members for coupling the robot body members to each other,
Wherein one of the plurality of robot body members is rotatably coupled to any one of the plurality of body coupling members to open the passage. 14. The method of claim 13,
The robot main unit includes:
And the other end of which is rotatably coupled to the main assembly engaging member so as to limit the rotation of the robot main body member when the robot main body member rotates with respect to the main body engaging member, And an opening / closing cylinder. A robot main body unit arranged in the water pipe and provided with a passage so as to be movable along the pipe;
A propulsion unit provided on the robot body unit for rotatably operating to provide propulsion force by seawater to the robot body unit and to determine a propulsion direction of the robot body unit; And
And an inspection unit mounted on the robot main unit to inspect the riser. 16. The method of claim 15,
The propulsion unit includes:
A propeller generating propulsion;
A propelling body rotatably coupled to the robot body unit corresponding to the propeller;
A propulsion unit mounted on the propelling body to drive the propeller; And
And a rotation operation part provided between the propulsion body and the robot body unit to rotate the propulsion body. 16. The method of claim 15,
Further comprising one or more guide wheel units each having a wheel contacting the pipe to guide movement of the robot main body unit. 18. The method of claim 17,
The guide wheel unit includes:
A caster structure,
A wheel guide body rotatably coupled to the robot main body unit to fix the wheel to the robot main body unit; And
And a wheel support portion provided on the wheel guide body such that the wheel is rotatably coupled and the wheel is supported by the wheel guide body. 18. The method of claim 17,
Wherein the wheel is provided in a spherical shape. A robot body unit disposed in the water pipe and provided with a passage so as to be movable along the pipe, the robot body unit contacting the pipe and being capable of rolling;
A first propelling unit provided on the robot body unit to provide the propelling force using seawater to the robot body unit and to move the robot body unit along the pipe;
A second propulsion unit provided on the robot body unit to rotate the robot body unit about an axis of the pipe, the propulsion unit providing the propulsion unit using the seawater to the robot body unit; And
And an inspection unit mounted on the robot main unit to inspect the pipe.

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