KR100770988B1 - Manless lining cars for revival water supply pipe - Google Patents

Abstract

An unmanned painting vehicle for renewing a water supply pipe is provided to guarantee rapidity and simplicity in construction by allowing the painting vehicle to performing automatic lining inside pipes. An unmanned painting vehicle for renewing a water supply pipe comprises a track unit, a track steering unit, an injection unit(4), and a control unit. The track unit moves a vehicle body with a camera, a paint tank(17), a hardening agent tank(18), and a forcible feeding unit(19) supplying paint and a hardening agent at regular pressure. A cylinder body of a hydraulic cylinder is connected to the lower side of the vehicle body to move the track unit to a side of the vehicle body around the hinge joint. The track steering unit is connected to a cylinder rod of the hydraulic cylinder to control tilting and traveling directions of the track unit. The injection unit injects a two-solution type paint to the inner wall of the pipe through an injection nozzle installed at a front side of the vehicle body horizontally and connected to the forcible feeding unit. The control unit is installed at the vehicle body to control operation of components according to a signal sent from an external remote controller.

Description

Manless lining cars for revival water supply pipe}

1 is a schematic configuration diagram showing a state of use of the present invention.

Figure 2 is a perspective view showing the main part of the present invention.

3 is a cross-sectional view showing a rotary joint of the present invention.

Figure 4 is a front view showing the track portion of the present invention.

Figures 5a, 5b, 5c is a bottom view and a cross-sectional view showing a steering state of the track portion of the present invention.

Figure 6 is a bottom perspective view of the present invention.

7 is a side view of the present invention.

8 and 9 are a side view and a cross-sectional view showing a position adjusting means of the present invention.

10 is a front view showing another embodiment of the present invention.

11 is a schematic configuration diagram showing a use state of the present invention.

12 is a schematic circuit diagram of the present invention.

* Explanation of symbols for main parts of the drawings

1: vehicle body 2: track part

3: Orbital steering unit 4: Injection device

5: control part 6: lift drive part

7: Positioning means 9: Movable spray nozzle

11: Surveillance camera 12: Cover

13: Observation camera 14: Pumping pump

15: towing device 17, 18: paint, hardener tank

19: Paint presser 31: Hinge joint

32: hydraulic cylinder 41: spray nozzle

      42: belt connecting groove 43: driven pulley

44: belt 45: heater

46: rotary joint 51: receiver

52: central processing unit 53: drive unit

54: transmitter 61: spiral shaft

62, 62a: Nut 63, 63a: Link part

64: spiral shaft drive part 71: base plate

71a: spindle 72: support plate

73: rotation support 74: rotation drive unit

75: linear moving part 91: nozzle fixture

92: spherical roller 93: spring

94: stopper 151: winch

152: wire rope 153: electromagnet

311: body support 312: orbit support

315: spherical contact bearing 461: internal rotating body

461a: Sealed ring 461b: Round groove

461c: Inlet hole 461d: Exit

462: External housing 462a: Mounting hole

 643: electric pulley 644: electric belt

741: External gear 742: Drive gear

751: Rail 752: Feed axis

753: Feeding Nut

The present invention is applied to the rehabilitation method of the water pipe, which is applied as the same, and relates to an unmanned painting vehicle for rehabilitation of the water pipe, which can automatically perform the lining work inside the cleaned pipe while traveling the inside of the pipe by remote control. .

In general, as the water pipes are buried as time passes after they are buried, the dopant is removed from the pipe due to fluctuations in pressure inside and outside the pipes. Occurrence and slime forming a thick scale layer causes a decrease in water penetration and water quality.

The rehabilitation of the old water pipes is usually determined by determining the intervals and grasping the internal condition of the water pipes. Then, the scale inside the pipeline is removed, and the removed waste is discharged to the outside of the pipeline, and then customs work is performed to clean the interior of the pipeline. And after the customs work is to perform the lining work to coat the inner wall of the pipeline through the drying work to renovate the old water pipe.

However, in the related art, the inspection, cleaning, drying, and lining operations of the pipe line as described above have to be repeatedly carried out by the operator after putting the related equipment into the pipe line for each process and then withdrawing the work. Of course, the delay of the construction time of course not only causes the inefficiency of the construction, but also has a problem of causing economic deterioration by the input of a lot of manpower and equipment.

Accordingly, the present applicant has applied for the rehabilitation method of the water conduit with the same to solve the conventional problems as described above, the rehabilitation method of the water conduit using the unmanned track vehicle that runs the inside of the conduit. It can be done automatically and continuously.

Therefore, the present invention is applied to the rehabilitation method of the water pipe, the object of the present invention is to provide an unmanned painting vehicle for water pipe rehabilitation that can automatically perform the lining work in the pipeline while traveling inside the pipeline by remote control. .

In order to achieve the object of the present invention, a track unit for driving the vehicle body equipped with a camera, a paint and hardener tank, a paint feeder for discharging the paint and hardener at a constant pressure; A track steering unit for adjusting the tilting and driving direction of the track unit; An injector for spraying a two-component paint on the inner wall of the conduit through a spray nozzle installed at the front side of the vehicle body and connected to the paint presser and rotating at the front end thereof; The unmanned painting vehicle for rehabilitation of water pipes is provided in the vehicle main body and comprises a control unit 5 which controls the driving and operation of the devices according to a signal received from an external remote controller.

The track steering unit may include a hinge joint rotatably supporting the track unit in a lateral direction of the vehicle body; And a hydraulic cylinder pivoting the track part in the lateral direction of the vehicle body around the hinge joint.

In addition, the hinge joint further includes a spherical contact bearing, the injector is formed with a belt connection groove which is connected to the drive pulley and the belt of the drive motor is configured to rotate with the injection nozzle, the rear side is blower by the rotary joint And heaters of each injection nozzle are configured to be electrically connected.

In addition, the rotary joint may include: an inner rotary body having an annular groove having a plurality of compartments and an inlet hole and an outlet communicating with the annular groove by a sealing ring; Characterized in that the outer housing having a mounting hole in communication with the annular groove of the inner rotating body.

The injector further includes a spiral shaft having spirals in opposite directions; A pair of nuts coupled to the spiral shaft; A pair of link portions coupled between the nut and the injector; It is characterized in that it can be moved up and down position by the elevating drive consisting of; spiral shaft drive unit for driving the spiral shaft by the power of the motor.

In addition, the injector includes a rotation support for rotatably supporting the main shaft of the base plate of the lower portion of the elevating drive unit in the center of the lower side support plate; A rotation driving unit rotating the support plate at a predetermined angle; Characterized in that it further comprises a position adjusting means consisting of; linear movement portion for moving the support plate in the lateral direction.

In addition, the vehicle body further includes a towing device, characterized in that the towing device is composed of a winch connected to the electromagnet to the wire rope.

In addition, the injector is characterized in that it further comprises a movable injection nozzle having a spherical roller and is expandable by a spring.

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

1 is a schematic configuration diagram showing a use state of the present invention.

As shown in the present invention is to be put into the interior of the water pipe required for rehabilitation is to perform the lining work inside the pipe, it is possible to monitor the internal state of the pipe to the front and rear of the vehicle body (1) from the outside. The observation camera 13 having the normal zoom function and the direction change direction function is provided at the specific portion of the cover 12 together with a plurality of surveillance cameras 11 which are illuminated so as to concentrate and observe a specific part of the pipeline. Is installed on.

In addition, it is configured to control driving of the vehicle body 1 by the track unit 2 and driving of various devices mounted on the vehicle body 1 by external remote controller adjustment. .

2 is a perspective view showing the main part of the present invention.

As shown in the present invention, the vehicle body 1 is configured to be driven by both track parts 2, and the vehicle body 1 is an injection device for injecting a two-component paint on the inner wall of the pipeline ( 4) is mounted, the injector (4) is configured to enable the up and down position movement and left and right rotation and linear movement by the elevating drive unit 6 and the position adjusting means (7).

In addition, the plurality of injection nozzles 41 provided at the front end of the injection device 4 are formed with two injection nozzles at intervals of 180 degrees, and the vehicle body 1 supplies the two-component paint to the injection device 4. The paint tank 17 and the hardening material tank 18 to which the paint and the hardening material are forcibly fed to the injection nozzle 41 at a constant pressure are mounted.

In addition, the injection device 4 is formed with a belt connecting groove 42 connected to the driving pulley 43 of the drive motor M and the belt 44 at the rear side, and the injection nozzle 41 by the power of the drive motor. It is configured to rotate together, and the injector 4 and the paint presser 19 is connected to the rotary joint 46 so that they can be connected to each other without twisting the supply hose.

Along with this, the elevating driving part 6 is composed of a spiral shaft 61, a pair of nuts 62 and 62a, a pair of link portions 63 and 63a, and a spiral shaft driver 64.

The spiral shaft 61 is formed of spiral parts 61a and 61b in opposite directions to which the nuts 62 and 62a are coupled to each other in a spiral direction, and are formed at right angles to the injector 4. It is provided on the upper part of the vehicle body 1 in the direction, and is provided here as a pair of front and rear sides.

One end of the pair of link portions 63 and 63a is rotatably fixed to the nuts 62 and 62a, and the other end is rotatably fixed to the injector 4.

In addition, the spiral shaft drive unit 64 is provided with a driven pulley 642 in the middle portion of the spiral shaft 61, that is, the portion where the spiral portions 61a and 61b in opposite directions form a boundary. ) Is installed so that the rotational drive of the spiral shaft 61 by the belt transmission by installing the electric pulley (643) connected to the driven pulley (642) and the electric belt (644).

Lifting drive unit 6 of the present invention configured as described above, when the power of the driving motor M is transmitted to the driven pulley 642 through the electric belt 644, the spiral shaft 61 is rotated in one direction, this rotation Nuts 62 and 62a spirally coupled to the spiral shaft 61 in opposite directions by each other are linearly moved in opposite directions, so that both ends of the nuts 62 and 62a and the injector 4 are respectively connected. Link portion (63) (63a) is to be able to move the injector (4) up and down.

3 is a cross-sectional view showing a rotary joint of the present invention.

As shown therein, the rotary joint 46 is composed of an inner rotating body 461 and an outer housing 462, and the inner rotating body 461 is connected to the injector 4 to rotate together, The annular groove 461b is formed by the sealing ring 461a, and the annular groove 461b includes an inlet hole 461c.

A plurality of outlets 461d are formed at a front portion of the inner rotating body 461 to allow the paint and the hardened material introduced through the inlet hole 461c to be supplied to the injection nozzle 41, and the outer housing 462. A plurality of mounting holes 462a are formed around the silver to communicate with the annular grooves 461b of the internal rotating body 461.

The present invention configured as described above flows into the annular groove 461b of the inner rotor 461 in which the paint and the hardening material rotate through the mounting hole 462a of the fixed outer housing 462, and then the annular groove 461b. It is supplied to the injection nozzle 41 through the inlet hole (461c) and the outlet (461d) of the.

Figure 4 is a front view showing the track portion of the present invention.

As shown here, the track portion 2 of the present invention is capable of adjusting the tilting and driving direction by the track steering portion 3, and the track steering portion 3 is a hinge joint 31 and a plurality of hydraulic pressures. It consists of the cylinder 32.

The hinge joint 31 is formed by coupling the body support piece 311 protruding from the vehicle body 1 and the track support piece 312 protruding from the track portion 2 to the pin 314.

In addition, the cylinder body 32a of the hydraulic cylinder 32 is rotatably fixed to the vehicle body 1, and the cylinder rod 32b is rotatably coupled to the track support piece 312 of the track portion 2. .

Accordingly, the track part 2 is driven to rotate in the lateral direction of the vehicle main body 1, that is, tilting by the operation of the hydraulic cylinder 32 about the hinge joint 31 along the shape of the section pipeline 100. tilting).

5A and 5B are bottom views showing a steering state of the track part of the present invention.

As shown in the present invention, the direction of the track part 2 can be adjusted by the operation of the hydraulic cylinder 32, and the protruding length of the cylinder rod 32b of the rear hydraulic cylinder 32 is the front side. When the rod protrusion length of the hydraulic cylinder 32 is larger than that, the front width of both raceways can be narrowed to move forward, and the rod protrusion length of the front hydraulic cylinder 32 is larger than the rod protrusion length of the rear hydraulic cylinder 32. If it is enlarged, the rear width of both tracks can be narrowed in the reverse direction, so that the vehicle can travel with a narrower width in the direction of travel and hold the center of the vehicle body 1 to prevent the vehicle body from overturning. Will be.

On the other hand, the track portion 2 can change the tilting direction and the forward and backward direction of the vehicle body in the hinge joint 31 and the connection portion of the hydraulic cylinder 32 to the track portion in Figure 5c It is made by having a spherical contact bearing 315 as shown.

7 is a side view of the present invention.

As shown therein, the present invention further includes a towing apparatus 15 capable of forcibly towing the vehicle body 1 in order to prevent the vehicle body 1 from slipping on the inclined section.

The towing device 15 is composed of a winch 151 mounted to the vehicle body 1 and an electromagnet 153 connected to the end side of the wire rope 152 wound on the winch 151, and FIG. Likewise, by attaching the electromagnet 153 to a specific part of the section pipeline by supplying power and winding or unwinding the winch 151 of the vehicle body 1 to provide auxiliary power during forward and reverse movement of the vehicle body 1 The vehicle body 1 can be prevented from slipping on the pipeline.

8 and 9 are a side view and a cross-sectional view showing a position adjusting means of the present invention.

As shown therein, the injector 4 of the present invention can be linearly moved in a lateral direction and rotated by a predetermined angle by the position adjusting means 7.

In order to configure the position adjusting means (7), the present invention is provided with a base plate (71) for supporting a lower portion of the elevating driving part (6), and a support plate (72) is provided under the base plate (71).

In addition, a main shaft (71a) is formed in the lower center of the base plate 71, the main shaft (71a) is provided in the central portion of the support plate 72 by the rotary support 73 including a bearing (support plate ( 72 is rotatably supported.

In addition, an arcuate external gear 741 is integrally formed on the support plate 72 on the outer side of the rotary support 73, and a drive gear 742 meshed with the external gear 741 on the base plate 71. Drive motor (M) having a through is installed in the vertical direction through the base plate 71 is to constitute a rotation driving unit (74).

In addition, the injection apparatus 4 including the base plate 71, the support plate 72, and the lift driving unit 6 is lateral in the linear direction by the linear movement unit 75 provided below the support plate 72. As the position can be adjusted, for this purpose, the lower portion of the support plate 72 is supported by the lateral rail 751, the rail 751 is provided with a spiral feed shaft 752 formed between.

In addition, a lower portion of the support plate 72 is integrally formed with a feed nut 753 which is helically coupled to a feed shaft 752, and the feed shaft 752 is connected to a drive motor M to connect the drive motor M. By the rotation of the feed shaft (752) by the support plate 72 is coupled to the feed shaft (752) by the transfer nut (753) will be able to transfer in the lateral direction.

Therefore, the injection device 4 of the present invention is a drive gear of the drive motor (M) installed in the vertical direction on the base plate 71 of the support plate 72 while being capable of lateral position movement by the linear moving unit 75. By forward and reverse rotation at 742, rotation of the left and right predetermined angles becomes possible.

10 is a front view showing another embodiment of the present invention.

As shown in the present invention, by separately providing a movable spray nozzle 9 having a stretch function adjacent to the spray nozzle 41, the spray distance between the nozzle and the inner wall of the pipeline is always kept constant regardless of the shape of the pipe. It can be configured to maintain.

In more detail, the movable injection nozzle 9 has a spherical roller 92 in rolling contact with the inner wall of the conduit and a nozzle body having a stopper 94 formed at the other end of the spherical roller 92. 90). In addition, the nozzle body 90 is slidably fixed in the same direction as the injection nozzle 41 by the nozzle fixture 91, and the spring 93 provided between the nozzle fixture 91 and the spherical roller 92 It is configured to be elastically supported by the outside at all times, wherein the end side of the pre-installed injection nozzle 41 is closed, the injection nozzle 41 and the nozzle body 90 is connected by a pipe.

According to the present invention configured as described above, the two-component paint supplied to the injection nozzle 41 is introduced into the nozzle body 90 through a pipe and sprayed to the outside, and the nozzle body 90 is applied to the elastic force of the spring 93. By the expansion and contraction according to the shape of the pipe with the spherical roller 92 in contact with the cloud along the inner wall of the pipe by which the spray distance can always be constantly adjusted regardless of the change in the shape of the pipe.

12 is a schematic circuit diagram of the present invention.

The present invention is controlled through an external control room 200 by a conventional remote control method, and receives a control data transmitted from an external remote controller 300 to control the driving and operation of each device ( 5) is provided in the vehicle body.

The control unit 5 controls driving by a receiver 51 which receives control data of the remote controller 300 and a driver 53 which drives each device according to the control data transmitted from the receiver 51. A central processing unit (CPU) 52 for outputting a signal, and a transmitting unit 54 for transmitting driving state data output from the central processing unit 52 according to the driving state of the driving unit 53 to the remote controller 100; It consists of.

As described above, the present invention provides an unmanned painting vehicle for rehabilitation of the waterway pipe that automatically performs the lining work inside the pipeline while driving the inside of the pipeline by remote control, so that the construction speed as well as the simplicity, efficiency and economy of the construction are improved. There is an effect that can be secured.

Claims (12)

delete A track portion 2 for driving the vehicle body 1 equipped with a camera, paint and hardener tanks 17 and 18, and a feeder 19 for delivering paint and hardener at a constant pressure; The track portion 2 is configured to be rotatably supported by the hinge joint 31 to the vehicle body 1, and the track portion 2 is the side of the vehicle body 1 around the hinge joint 31. The cylinder body 32a of the plurality of hydraulic cylinders 32 is rotatably connected to the lower side of the vehicle body 1 so as to be rotated in the direction, and the cylinder rod of the hydraulic cylinder 32 is connected to the raceway 2. 32b) is connected to the track steering (3) to be adjusted to the tilting and running direction of the track (2); An injector (4) installed horizontally to the front side of the vehicle body (1) and injecting a two-component paint to the inner wall of the conduit through a spray nozzle (41) of the tip portion which is connected to and rotated with the paint presser (19); The unmanned painting vehicle for rehabilitation of water pipes, characterized in that the control unit (5) is installed on the vehicle body (1) and configured to control the driving and operation of the devices in accordance with a signal received from an external remote controller (300). The method of claim 2, The hinge joint 31 is unmanned painting vehicle for rehabilitation of water pipes, characterized in that further comprises a spherical contact bearing (315). The method of claim 2, The injector 4 has a belt connecting groove 42 connected to the driving pulley 43 and the belt 44 of the driving motor M, and is configured to rotate together with the injection nozzle by power. Side is a rotary pipe 46, the unmanned painting vehicle for rehabilitation of water pipes, characterized in that the blower 17 and the heater 45 of each injection nozzle 41 is configured to be electrically connected. The method of claim 4, wherein The rotary joint 46 is connected to the injector 4 and rotates together, and a plurality of compartments are formed around the annular groove 461b including an inlet hole 461c by a sealing ring 461a. An inner rotary body 461 having a plurality of outlets 461d formed therein to supply paint and hardened material introduced through the inlet hole 461c to the injection nozzle 41; The outer housing 462 is fixed to and provided on the outer side of the inner rotary body 461, the outer housing 462 is formed with a plurality of mounting holes (462a) in communication with each annular groove 461b of the inner rotary body 461 Unmanned painting vehicle for rehabilitation of water pipe with a characteristic. The method of claim 2, The injector (4) is an unmanned painting vehicle for rehabilitation of water pipes, characterized in that configured to be moved up and down by the elevating drive (6). The method of claim 6, The elevating driving part 6 has a spiral portion 6a, 6b of which one side and the other side are opposite to each other, and is formed on the upper portion of the vehicle body 1 in a horizontal direction perpendicular to the injector. )and; A pair of nuts 62 and 62a spirally coupled to the spiral shaft 61, respectively; A pair of link parts (63) (63a) rotatably fixed to one side of the nut (62) (62a) and the other end rotatably fixed to the injector (4); The driven pulley 642 is installed at the center of the spiral shaft 61, and the electric pulley 643 is installed at the driving motor 641 to rotate the spiral shaft 61 by the transmission of the electric belt 644. Spiral shaft drive unit (64); unmanned painting vehicle for water pipe rehabilitation, characterized in that consisting of. The method of claim 2, The injector (4) by the position adjusting means (7) The unmanned painting vehicle for rehabilitation of the water pipe further comprises a rotation of the left and right predetermined angle and the linear movement in the lateral direction. The method of claim 8, The position adjusting means 7 includes a rotation support 73 for rotatably supporting the base plate 71 provided at the lower portion of the elevating driving part 6 in the central portion of the lower support plate 72; A drive motor having an arcuate external gear 741 is formed on the outer support plate 72 of the rotary support 73, and the base plate 71 has a drive gear 742 engaged with the external gear 741. A rotation driving unit 74 in which (M) is vertically installed; The lower part of the support plate 72 is supported by the lateral rail 751, and the feed nut 753 formed at the lower part of the support plate 72 is coupled to the spirally-shaped feed shaft 752 by the driving motor M. Unmanned painting vehicle for rehabilitation of water pipes, characterized in that consisting of; linear movement unit 75 is made to lateral linear movement of the support plate 72 by the rotation of the feed shaft (752). The method of claim 2, The vehicle body (1) is an unmanned painting vehicle for rehabilitation of water pipes, characterized in that further comprises a traction device (15). The method of claim 10, The towing device 15 is a water supply pipe, characterized in that the winch 151 is installed on the vehicle body 1, the electromagnet 153 is provided on the end side of the wound wire rope 152 of the winch 151. Unmanned painting vehicle for rehabilitation. The method of claim 2, The injection device 4 is adjacent to the injection nozzle 41 with the outlet closed, slidably fixed to the injection nozzle 41 by the nozzle fixture 91, the spherical roller 92 is provided on the end side, An unmanned painting vehicle for rehabilitation of water pipes, characterized in that it further includes a movable injection nozzle (9), which is elastically supported outward by the spring (93) and has a stopper (94) formed at the opposite side of the outlet.

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