JP2020070918A - Wheel-type pipe detection robot and its use method - Google Patents

Wheel-type pipe detection robot and its use method Download PDF

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JP2020070918A
JP2020070918A JP2019003938A JP2019003938A JP2020070918A JP 2020070918 A JP2020070918 A JP 2020070918A JP 2019003938 A JP2019003938 A JP 2019003938A JP 2019003938 A JP2019003938 A JP 2019003938A JP 2020070918 A JP2020070918 A JP 2020070918A
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cavity
pipe
wheel
material spraying
slide
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JP6589203B1 (en
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馬輝
Hui Ma
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Yiwu Fengqing Technology Co Ltd
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Yiwu Fengqing Technology Co Ltd
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    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16L—PIPES; JOINTS OR FITTINGS FOR PIPES; SUPPORTS FOR PIPES, CABLES OR PROTECTIVE TUBING; MEANS FOR THERMAL INSULATION IN GENERAL
    • F16L55/00—Devices or appurtenances for use in, or in connection with, pipes or pipe systems
    • F16L55/26—Pigs or moles, i.e. devices movable in a pipe or conduit with or without self-contained propulsion means
    • F16L55/28—Constructional aspects
    • F16L55/30—Constructional aspects of the propulsion means, e.g. towed by cables
    • F16L55/32—Constructional aspects of the propulsion means, e.g. towed by cables being self-contained
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16L—PIPES; JOINTS OR FITTINGS FOR PIPES; SUPPORTS FOR PIPES, CABLES OR PROTECTIVE TUBING; MEANS FOR THERMAL INSULATION IN GENERAL
    • F16L55/00—Devices or appurtenances for use in, or in connection with, pipes or pipe systems
    • F16L55/16—Devices for covering leaks in pipes or hoses, e.g. hose-menders
    • F16L55/162—Devices for covering leaks in pipes or hoses, e.g. hose-menders from inside the pipe
    • F16L55/1645—Devices for covering leaks in pipes or hoses, e.g. hose-menders from inside the pipe a sealing material being introduced inside the pipe by means of a tool moving in the pipe
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16L—PIPES; JOINTS OR FITTINGS FOR PIPES; SUPPORTS FOR PIPES, CABLES OR PROTECTIVE TUBING; MEANS FOR THERMAL INSULATION IN GENERAL
    • F16L55/00—Devices or appurtenances for use in, or in connection with, pipes or pipe systems
    • F16L55/26—Pigs or moles, i.e. devices movable in a pipe or conduit with or without self-contained propulsion means
    • F16L55/28—Constructional aspects
    • F16L55/40—Constructional aspects of the body
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16L—PIPES; JOINTS OR FITTINGS FOR PIPES; SUPPORTS FOR PIPES, CABLES OR PROTECTIVE TUBING; MEANS FOR THERMAL INSULATION IN GENERAL
    • F16L2101/00—Uses or applications of pigs or moles
    • F16L2101/10—Treating the inside of pipes
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16L—PIPES; JOINTS OR FITTINGS FOR PIPES; SUPPORTS FOR PIPES, CABLES OR PROTECTIVE TUBING; MEANS FOR THERMAL INSULATION IN GENERAL
    • F16L2101/00—Uses or applications of pigs or moles
    • F16L2101/30—Inspecting, measuring or testing
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16L—PIPES; JOINTS OR FITTINGS FOR PIPES; SUPPORTS FOR PIPES, CABLES OR PROTECTIVE TUBING; MEANS FOR THERMAL INSULATION IN GENERAL
    • F16L2101/00—Uses or applications of pigs or moles
    • F16L2101/60—Stopping leaks

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  • Engineering & Computer Science (AREA)
  • General Engineering & Computer Science (AREA)
  • Chemical & Material Sciences (AREA)
  • Combustion & Propulsion (AREA)
  • Mechanical Engineering (AREA)
  • Pipe Accessories (AREA)
  • On-Site Construction Work That Accompanies The Preparation And Application Of Concrete (AREA)

Abstract

To disclose a wheel-type pipe detection robot and its use method.SOLUTION: A wheel-type pipe detection robot includes a raw material scattering base which firmly adheres to a wheel-type traveling vehicle body, and a support base which firmly adheres to the wheel-type traveling vehicle body. A magazine is arranged at a tip face of the raw material scattering base, a storage cavity is formed at a tip face of the magazine, an L-shaped raw material scattering pipe is arranged while communicating with a right sidewall of the storage cavity, the L-shaped raw material scattering pipe is attached rotatably to a right side end face of the raw material scattering base, a raw material scattering mechanism is arranged at a terminal end of the L-shaped raw material scattering pipe, a cavity is formed at the raw material scattering base at an external periphery of the L-shaped raw material scattering pipe, a driven gear firmly adheres to the external periphery of the L-shaped raw material scattering pipe in the cavity, and an agitation spindle is rotatably fit and attached to the magazine.SELECTED DRAWING: Figure 1

Description

本発明はロボット技術分野を取り上げて、具体的にはホイール式パイプ検知ロボット及びその使用方法である。 The present invention takes up the technical field of robots, and more specifically, relates to a wheel type pipe detection robot and a method of using the same.

パイプロボットは細いパイプの内部あるいは外部沿いに自動的にウォーキングでき、一種または複数種のセンサー及び操作機械を携帯し、スタッフのリモコン操作あるいはコンピュータ自動制御により、一連の配管作業を行う機械、電器、メータの一体化システムであり、パイプロボットの種類が多く、その中、ホイール式パイプロボットが広く使用されていて、多くのビジネスロボットがこの類型であり、従来技術におけるホイール式パイプロボットがパイプの内部を検知してパイプの補修が必要な時、通常定額外の作業をすることによりパイプを補修するので、定額外の大量の人力を消耗することが必要となり、このため、自動的にパイプ内部を検知して補修するホイール式パイプ検知ロボット及びその使用方法が必要となる。 A pipe robot can automatically walk inside or outside a thin pipe, carry one or more types of sensors and operating machines, and carry out a series of piping work by staff's remote control operation or computer automatic control, electric appliances, It is an integrated system of meters, and there are many types of pipe robots. Among them, wheel type pipe robots are widely used, and many business robots are of this type. When the pipe is detected and repair is required, the pipe is usually repaired by doing work outside the fixed amount, so it is necessary to consume a large amount of human power outside the fixed amount. A wheel-type pipe detection robot that detects and repairs and a method of using the same are required.

中国特許出願公開第105372263号明細書Chinese Patent Application Publication No. 105372263

本発明はホイール式パイプ検知ロボット及びその使用方法を提供し、従来技術における上記欠点を解消することを目的とする。 It is an object of the present invention to provide a wheel type pipe detection robot and a method of using the same, and solve the above-mentioned drawbacks of the prior art.

本発明のホイール式パイプ検知ロボット及びその使用方法は、ホイール式走行車体に固着される素材散布ベースと前記ホイール式走行車体に固着されるサポートベースとを含み、前記素材散布ベースの先端面の中にマガジンが設けられ、前記マガジンの先端面の中に貯蔵キャビティーが設けられ、前記貯蔵キャビティーの右側壁と連通してＬ型素材散布パイプが設けられ、前記素材散布ベースの右側端面の中に前記Ｌ型素材散布パイプが回転できるように装着され、且つ前記Ｌ型素材散布パイプの末端に素材散布機構が装着され、前記Ｌ型素材散布パイプの外周の前記素材散布ベースの中にキャビティーが設けられ、前記キャビティーの中にある前記Ｌ型素材散布パイプの外周には従動歯車が固設され、前記マガジンの中に撹拌主軸が回転できるように嵌合装着され、前記撹拌主軸の外周に三組の素材かき混ぜブレードが固設され、前記マガジンのボトム端の前記素材散布ベースの中に伝動スライドキャビティーが設けられ、前記撹拌主軸が前記伝動スライドキャビティーの中に入り込み、且つ前記撹拌主軸のボトム端末端に従動傘歯車が固設され、前記伝動スライドキャビティーの中に第一スライダが滑合装着され、前記第一スライダの右側端面の中に駆動モータが固設され、前記駆動モータの右側端に回動軸が動力で係合装着され、前記回動軸の外周には前記従動傘歯車と噛み合う用の主動傘歯車が固設され、前記主動傘歯車の右側の前記伝動スライドキャビティーの中にはスライドフレームが滑合装着され、前記回動軸が前記スライドフレームの中に入り込み且つ前記スライドフレームと滑合接続され、前記回動軸の右側末端に雄スプライン軸が固設され、前記伝動スライドキャビティーと前記キャビティーの間に転送筒が回転できるように係合接続され、前記転送筒の左側端面の中には前記雄スプライン軸と係合接続する用の雌スプラインキャビティーが設けられ、前記転送筒の右側端面には前記従動歯車と噛み合う主動歯車が固設され、前記伝動スライドキャビティーの底壁の中に規制スライドキャビティーが設けられ、前記規制スライドキャビティーの中には前記第一スライダと固定接続する第二スライダが滑合装着され、前記第二スライダの中にねじロッドが螺合装着され、前記ねじロッドの左側末端が前記規制スライドキャビティーの左側壁と回転できるように係合接続され、前記ねじロッドの右側末端に規制モータが動力で係合装着され、前記規制モータが前記規制スライドキャビティーの右側壁の中に固設される。 A wheel type pipe detection robot and a method of using the same according to the present invention include a material dispersion base fixed to a wheel type traveling vehicle body and a support base fixed to the wheel type traveling vehicle body. Is provided with a magazine, a storage cavity is provided in a front end surface of the magazine, an L-shaped material spray pipe is provided in communication with a right side wall of the storage cavity, and a right end surface of the material spray base is provided. The L-shaped material spraying pipe is rotatably mounted, and a material spraying mechanism is mounted at the end of the L-shaped material spraying pipe. Is provided, and a driven gear is fixedly mounted on the outer periphery of the L-shaped material spray pipe in the cavity, and the stirring main shaft is rotatable in the magazine. Are fitted and mounted as described above, three sets of material stirring blades are fixedly installed on the outer periphery of the stirring spindle, and a transmission slide cavity is provided in the material distribution base at the bottom end of the magazine, and the stirring spindle is The driven bevel gear is fixedly installed in the transmission slide cavity, and the bottom end end of the stirring main shaft is fixed, and the first slider is slidably mounted in the transmission slide cavity, and the right side of the first slider. A drive motor is fixed in the end face, a rotary shaft is engaged with the right end of the drive motor by power, and a main driving bevel gear for meshing with the driven bevel gear is fixed on the outer periphery of the rotary shaft. A slide frame is slidably mounted in the transmission slide cavity on the right side of the main driving bevel gear, the rotary shaft is inserted into the slide frame, and A male spline shaft is fixedly connected to the frame by sliding connection to the right end of the rotating shaft, and a transfer cylinder is rotatably engaged and connected between the transmission slide cavity and the cavity. A female spline cavity for engaging and connecting with the male spline shaft is provided in the left end face of the transfer cylinder, and a main drive gear meshing with the driven gear is fixedly provided on the right end face of the transfer cylinder. A regulation slide cavity is provided in the bottom wall of the tee, a second slider fixedly connected to the first slider is slidably mounted in the regulation slide cavity, and a screw rod is provided in the second slider. Is threadedly mounted, the left end of the threaded rod is rotatably engaged with the left side wall of the restriction slide cavity, and is connected to the right end of the threaded rod. A restriction motor is power-engaged and mounted, and the restriction motor is fixedly installed in the right side wall of the restriction slide cavity.

更の技術プランとしては、前記素材散布機構はＬ型素材散布パイプの中に設置されるＬ型素材散布キャビティーを含み、前記Ｌ型素材散布キャビティーの中に封止スライドパッドが滑合装着され、前記封止スライドパッドの中に素材散布口が設けられ、前記封止スライドパッドの底部端面に素材散布調節パイプが固設され、前記素材散布調節パイプの中に前記素材散布口と連通して素材散布スペースが設けられ、前記素材散布調節パイプの底部末端に高圧ノズルが固設され、前記Ｌ型素材散布パイプにサポートブロックが固設され、前記サポートブロックの中にスタビライザが滑合装着され、前記スタビライザの底部末端が前記高圧ノズルと固定接続し、前記スタビライザの先端末端にストッパーが固設され、前記Ｌ型素材散布パイプに固定ブロックが固設され、前記Ｌ型素材散布パイプの底部端面に空気圧シリンダが固設され、前記空気圧シリンダのボトム端のピストンロッドにリンクが固定接続され、前記リンクの底部末端が前記高圧ノズルと固定接続する。 As a further technical plan, the material spraying mechanism includes an L-shaped material spraying cavity installed in an L-shaped material spraying pipe, and a sealing slide pad is slidably mounted in the L-shaped material spraying cavity. A material spraying port is provided in the sealing slide pad, a material spraying adjustment pipe is fixedly provided on the bottom end surface of the sealing slide pad, and the material spraying port communicates with the material spraying port in the material spraying adjusting pipe. A material spraying space is provided, a high pressure nozzle is fixed to the bottom end of the material spraying adjustment pipe, a support block is fixed to the L-shaped material spraying pipe, and a stabilizer is slidably mounted in the support block. , The bottom end of the stabilizer is fixedly connected to the high-pressure nozzle, and a stopper is fixedly installed at the tip end of the stabilizer and fixed to the L-shaped material spray pipe. A lock is fixed, a pneumatic cylinder is fixed on the bottom end face of the L-shaped material spray pipe, a link is fixedly connected to a piston rod at the bottom end of the pneumatic cylinder, and the bottom end of the link is fixed to the high pressure nozzle. Connecting.

更の技術プランとしては、前記Ｌ型素材散布キャビティーの左側末端の中に電子制御バルブが固設され、前記規制スライドキャビティーの右側端面に通電キャビティーが設けられ、前記第二スライダの右側端面の中に前記通電キャビティーと挿着して通電ブロックが係合装着され、前記通電キャビティーが制御端末と電気的に接続する。 As a further technical plan, an electronic control valve is fixedly installed in the left end of the L-shaped material spraying cavity, a current-carrying cavity is provided on the right end surface of the regulation slide cavity, and a right side of the second slider is provided. The energizing block is engaged and mounted in the end face by inserting the energizing cavity into the energizing cavity, and the energizing cavity is electrically connected to the control terminal.

更の技術プランとしては、前記撹拌主軸の外周の前記貯蔵キャビティーの底壁の中にシールリングが装着される。 As a further technical plan, a seal ring is installed in the bottom wall of the storage cavity on the outer circumference of the stirring spindle.

更の技術プランとしては、前記サポートベースの右側端面に自在調節機構が装着され、前記自在調節機構に監視プローブが装着され、前記サポートベースの右側先端にサーチライトが装着される。 As a further technical plan, a universal adjustment mechanism is attached to the right end surface of the support base, a monitoring probe is attached to the universal adjustment mechanism, and a searchlight is attached to the right end of the support base.

更の技術プランとしては、前記サポートベースの左側端面に連動軸が回転できるように装着され、前記連動軸が前記Ｌ型素材散布パイプと固定接続する。 As a further technical plan, an interlocking shaft is rotatably mounted on the left end surface of the support base, and the interlocking shaft is fixedly connected to the L-shaped material spray pipe.

更の技術プランとしては、前記素材散布ベースの先端には前記貯蔵キャビティーと連通して開閉キャビティーが設けられ、前記開閉キャビティーの中にピン接合軸を介して開閉ドアパネルがヒンジで装着され、前記開閉ドアパネルにハンドルが装着される。 As a further technical plan, an opening / closing cavity is provided at the tip of the material spraying base in communication with the storage cavity, and an opening / closing door panel is hingedly mounted in the opening / closing cavity via a pin joint shaft. A handle is attached to the opening / closing door panel.

本発明の有益効果は：本発明の構成が簡単で操作が便利であり、開閉ドアパネルを開けることによりセメントや、砂や、水などの添加物を貯蔵キャビティーの中に入れて、開閉ドアパネルを閉めて、駆動モータを起動させ、駆動モータが素材かき混ぜブレードを連動させて、セメントや、砂や、水などの添加物をセメントスラリーに攪拌混合させ、本装置をパイプの中にウォーキングさせてサーチライトをオンさせ、また本装置が監視プローブを介してパイプの内部を検知し、パイプの中にあるクラックあるいはノッチを検知した時に、規制モータを起動させ、規制モータが第二スライダを連動させて通電ブロックが完全に通電キャビティーの中に挿入するまで右へ滑り動かし、通電ブロックが電子制御バルブと電気的に接続されるため、この時、電子制御バルブが自動的に開き、第二スライダが右へ滑り動く時に第一スライダを連動させて右へ滑り動かし、また雄スプライン軸を完全に雌スプラインキャビティーの中に挿入させ、且つ主動傘歯車と従動傘歯車との噛み合いが外れて、この時、駆動モータを駆動させるとＬ型素材散布パイプを回転駆動させて高圧ノズルをクラックあるいはノッチと位置合わせし、空気圧シリンダを起動させることにより、高圧ノズルのテレスコ調整を連動させ、即ち、高圧ノズルとクラックあるいはノッチとの距離を調整し、その後、高圧ノズルを開けるとセメントスラリーをクラックあるいはノッチに散布することができ、それによってパイプの内部を効果的に検知することができ、またパイプ内部のクラックあるいはノッチを均一に散布補填することができ、また自動的にセメントスラリーを混合攪拌させ、スタッフがクラックあるいはノッチを補修することに手間がかかるという必要がなく、パイプ補修の負荷を効果的に省き、パイプ検知の作業効率を効果的に高め、押し広めて使用する値打ちがある。 The beneficial effects of the present invention are: the construction of the present invention is simple and convenient to operate, and by opening the opening / closing door panel, additives such as cement, sand, and water are put into the storage cavity to open the opening / closing door panel. Close it, start the drive motor, and the drive motor works with the material mixing blade to stir and mix the additives such as cement, sand, and water with the cement slurry, and walk the device into the pipe to search. When the light is turned on and this device detects the inside of the pipe through the monitoring probe and detects a crack or notch in the pipe, the regulation motor is activated and the regulation motor causes the second slider to interlock. Slide the energization block to the right until it is completely inserted in the energization cavity, and the energization block is electrically connected to the electronically controlled valve. At this time, the electronic control valve automatically opens, and when the second slider slides to the right, the first slider is interlocked to slide to the right, and the male spline shaft is completely inserted into the female spline cavity, and When the driving bevel gear disengages from the driven bevel gear and the drive motor is driven at this time, the L-shaped material spray pipe is rotationally driven to align the high pressure nozzle with the crack or notch and activate the pneumatic cylinder. By interlocking the telescopic adjustment of the high-pressure nozzle, that is, adjusting the distance between the high-pressure nozzle and the crack or notch, and then opening the high-pressure nozzle, it is possible to spray the cement slurry into the crack or notch, thereby The inside can be detected effectively, and cracks or notches inside the pipe can be evenly distributed and filled. In addition, there is no need for the staff to automatically mix and stir the cement slurry to repair cracks or notches, effectively reduce the load of pipe repair, and improve the work efficiency of pipe detection. It is worth raising it effectively and spreading it.

図1は本発明のホイール式パイプ検知ロボット及びその使用方法の内部全体構成模式図である。FIG. 1 is a schematic diagram of the entire internal configuration of a wheel-type pipe detection robot and a method of using the same according to the present invention. 図2は本発明の中の素材散布ベースの内部構成模式図である。FIG. 2 is a schematic diagram of the internal structure of the material spraying base in the present invention.

以下に図１〜２を交え本発明について詳しく説明する。便利に叙述するために、現在は後文に出る方位を下記の通りに規定する。後文に出る上下左右前後方向は図1本体の投影関係の上下左右方向と一致する。 The present invention will be described in detail below with reference to FIGS. For the sake of convenience, we now specify the directions shown in the following sentence as follows. The up, down, left, right, front, and rear directions appearing in the later sentence correspond to the up, down, left, and right directions of the projection relationship of the main body of FIG.

図１〜２を参照し、本発明の実施例のホイール式パイプ検知ロボット及びその使用方法は、ホイール式走行車体10に固着される素材散布ベース17と前記ホイール式走行車体10に固着されるサポートベース11とを含み、前記素材散布ベース17の先端面の中にマガジン65が設けられ、前記マガジン65の先端面の中に貯蔵キャビティー64が設けられ、前記貯蔵キャビティー64の右側壁と連通してＬ型素材散布パイプ51が設けられ、前記素材散布ベース17の右側端面の中に前記Ｌ型素材散布パイプ51が回転できるように装着され、且つ前記Ｌ型素材散布パイプ51の末端に素材散布機構が装着され、前記Ｌ型素材散布パイプ51の外周の前記素材散布ベース17の中にキャビティー54が設けられ、前記キャビティー54の中にある前記Ｌ型素材散布パイプ51の外周には従動歯車53が固設され、前記マガジン65の中に撹拌主軸57が回転できるように嵌合装着され、前記撹拌主軸57の外周に三組の素材かき混ぜブレード58が固設され、前記マガジン65のボトム端の前記素材散布ベース17の中に伝動スライドキャビティー26が設けられ、前記撹拌主軸57が前記伝動スライドキャビティー26の中に入り込み、且つ前記撹拌主軸57のボトム端末端に従動傘歯車66が固設され、前記伝動スライドキャビティー26の中に第一スライダ67が滑合装着され、前記第一スライダ67の右側端面の中に駆動モータ68が固設され、前記駆動モータ68の右側端に回動軸28が動力で係合装着され、前記回動軸28の外周には前記従動傘歯車66と噛み合う用の主動傘歯車27が固設され、前記主動傘歯車27の右側の前記伝動スライドキャビティー26の中にはスライドフレーム29が滑合装着され、前記回動軸28が前記スライドフレーム29の中に入り込み且つ前記スライドフレーム29と滑合接続され、前記回動軸28の右側末端に雄スプライン軸31が固設され、前記伝動スライドキャビティー26と前記キャビティー54の間に転送筒34が回転できるように係合接続され、前記転送筒34の左側端面の中には前記雄スプライン軸31と係合接続する用の雌スプラインキャビティー33が設けられ、前記転送筒34の右側端面には前記従動歯車53と噛み合う主動歯車32が固設され、前記伝動スライドキャビティー26の底壁の中に規制スライドキャビティー23が設けられ、前記規制スライドキャビティー23の中には前記第一スライダ67と固定接続する第二スライダ21が滑合装着され、前記第二スライダ21の中にねじロッド69が螺合装着され、前記ねじロッド69の左側末端が前記規制スライドキャビティー23の左側壁と回転できるように係合接続され、前記ねじロッド69の右側末端に規制モータ25が動力で係合装着され、前記規制モータ25が前記規制スライドキャビティー23の右側壁の中に固設される。 Referring to FIGS. 1 and 2, a wheel type pipe detection robot and a method of using the same according to an embodiment of the present invention include a material spraying base 17 fixed to a wheel type traveling vehicle body 10 and a support fixed to the wheel type traveling vehicle body 10. Including the base 11, a magazine 65 is provided in the tip surface of the material spraying base 17, a storage cavity 64 is provided in the tip surface of the magazine 65, and communicates with the right side wall of the storage cavity 64. Then, an L-shaped material spray pipe 51 is provided, the L-shaped material spray pipe 51 is rotatably mounted in the right end surface of the material spray base 17, and the material is attached to the end of the L-shaped material spray pipe 51. A spraying mechanism is mounted, a cavity 54 is provided in the material spraying base 17 on the outer circumference of the L-shaped material spraying pipe 51, and an outer circumference of the L-shaped material spraying pipe 51 in the cavity 54 is provided. Driven A wheel 53 is fixedly mounted, a stirring main shaft 57 is rotatably fitted and mounted in the magazine 65, three sets of material stirring blades 58 are fixedly mounted on the outer periphery of the stirring main shaft 57, and a bottom of the magazine 65 is fixed. A transmission slide cavity 26 is provided in the material spraying base 17 at the end, the stirring main shaft 57 enters the transmission slide cavity 26, and a driven bevel gear 66 at the bottom end of the stirring main shaft 57 is provided. The first slider 67 is fixedly mounted in the transmission slide cavity 26, and the drive motor 68 is fixed in the right end surface of the first slider 67. A rotating shaft 28 is engaged and mounted by power, and a driving bevel gear 27 for meshing with the driven bevel gear 66 is fixedly mounted on the outer periphery of the rotating shaft 28, and the transmission slide on the right side of the driving bevel gear 27. There is a slide frame inside the cavity 26. 29 is slidably mounted, the rotary shaft 28 is inserted into the slide frame 29 and is slidably connected to the slide frame 29, and a male spline shaft 31 is fixed to the right end of the rotary shaft 28. A transfer tube 34 is rotatably engaged between the transmission slide cavity 26 and the cavity 54, and is connected to the male spline shaft 31 in the left end surface of the transfer tube 34. A female spline cavity 33 is provided, and a main drive gear 32 that meshes with the driven gear 53 is fixedly provided on the right end surface of the transfer cylinder 34. The second slider 21 fixedly connected to the first slider 67 is slidably mounted in the regulation slide cavity 23, and the screw rod 69 is screwed and mounted in the second slider 21. The screw The left end of the lid 69 is rotatably engaged and connected with the left side wall of the restriction slide cavity 23, and the restriction motor 25 is power-engaged and attached to the right end of the screw rod 69. It is fixedly installed in the right side wall of the regulation slide cavity 23.

有益なまた例を示すように、前記素材散布機構はＬ型素材散布パイプ51の中に設置されるＬ型素材散布キャビティー52を含み、前記Ｌ型素材散布キャビティー52の中に封止スライドパッド47が滑合装着され、前記封止スライドパッド47の中に素材散布口46が設けられ、前記封止スライドパッド47の底部端面に素材散布調節パイプ39が固設され、前記素材散布調節パイプ39の中に前記素材散布口46と連通して素材散布スペース42が設けられ、前記素材散布調節パイプ39の底部末端に高圧ノズル41が固設され、前記Ｌ型素材散布パイプ51にサポートブロック43が固設され、前記サポートブロック43の中にスタビライザ44が滑合装着され、前記スタビライザ44の底部末端が前記高圧ノズル41と固定接続し、前記スタビライザ44の先端末端にストッパー45が固設され、前記Ｌ型素材散布パイプ51に固定ブロック37が固設され、前記Ｌ型素材散布パイプ51の底部端面に空気圧シリンダ36が固設され、前記空気圧シリンダ36のボトム端のピストンロッド35にリンク38が固定接続され、前記リンク38の底部末端が前記高圧ノズル41と固定接続し、それによって前記高圧ノズル41のテレスコ調整を自動的に制御し、更に進んでセメントスラリーを散布する均一性を高め、パイプへの補填効率を高める。 As an informative and example, the material distribution mechanism includes an L-shaped material distribution cavity 52 installed in an L-shaped material distribution pipe 51, and a sealing slide in the L-shaped material distribution cavity 52. A pad 47 is slidably mounted, a material spraying port 46 is provided in the sealing slide pad 47, and a material spraying adjustment pipe 39 is fixedly mounted on the bottom end surface of the sealing slide pad 47. A material spraying space 42 is provided in the 39 in communication with the material spraying port 46, a high pressure nozzle 41 is fixed at the bottom end of the material spraying adjustment pipe 39, and a support block 43 is provided on the L-shaped material spraying pipe 51. Is fixed, the stabilizer 44 is slidably mounted in the support block 43, the bottom end of the stabilizer 44 is fixedly connected to the high-pressure nozzle 41, and the stopper 45 is fixed to the tip end of the stabilizer 44. A fixed block 37 is fixed to the L-shaped material spray pipe 51, a pneumatic cylinder 36 is fixed to the bottom end surface of the L-shaped material spray pipe 51, and a link 38 is attached to the piston rod 35 at the bottom end of the pneumatic cylinder 36. Fixed connection, the bottom end of the link 38 is fixedly connected to the high pressure nozzle 41, thereby automatically controlling the telescopic adjustment of the high pressure nozzle 41 to further increase the uniformity of spraying the cement slurry and pipe. Increase the efficiency of filling.

有益なまた例を示すように、前記Ｌ型素材散布キャビティー52の左側末端の中に電子制御バルブ55が固設され、前記規制スライドキャビティー23の右側端面に通電キャビティー24が設けられ、前記第二スライダ21の右側端面の中に前記通電キャビティー24と挿着して通電ブロック22が係合装着され、前記通電キャビティー24が制御端末と電気的に接続し、前記通電ブロック22が前記電子制御バルブ55と電気的に接続し、それによって前記電子制御バルブ55の開弁を自動的に制御する。 As an advantageous and example, an electronic control valve 55 is fixedly installed in the left end of the L-shaped material distribution cavity 52, and a current-carrying cavity 24 is provided on the right end surface of the regulation slide cavity 23. The energization block 24 is inserted and fitted in the right end surface of the second slider 21 and the energization block 22 is engaged and mounted, the energization cavity 24 is electrically connected to a control terminal, and the energization block 22 is It is electrically connected to the electronic control valve 55, thereby automatically controlling the opening of the electronic control valve 55.

有益なまた例を示すように、前記撹拌主軸57の外周の前記貯蔵キャビティー64の底壁の中にシールリング56が装着され、それによってセメントスラリーの漏出を防止する。 As an advantageous and example, a seal ring 56 is mounted in the bottom wall of the storage cavity 64 on the outer circumference of the stirring spindle 57, thereby preventing the cement slurry from leaking.

有益なまた例を示すように、前記サポートベース11の右側端面に自在調節機構12が装着され、前記自在調節機構12に監視プローブ13が装着され、前記サポートベース11の右側先端にサーチライト15が装着され、それによってパイプ内部への検知に便利を与える。 As a useful and example, a free adjustment mechanism 12 is attached to the right end surface of the support base 11, a monitoring probe 13 is attached to the free adjustment mechanism 12, and a searchlight 15 is attached to the right end of the support base 11. It is mounted, thereby providing convenience for sensing inside the pipe.

有益なまた例を示すように、前記サポートベース11の左側端面に連動軸16が回転できるように装着され、前記連動軸16が前記Ｌ型素材散布パイプ51と固定接続し、それによって前記Ｌ型素材散布パイプ51の安定性を効果的に増加させ、回転時にガタツキが発生することを防止する。 As a useful and example, the interlocking shaft 16 is rotatably mounted on the left end surface of the support base 11, and the interlocking shaft 16 is fixedly connected to the L-shaped material distribution pipe 51, whereby the L-shaped material distribution pipe 51 is connected. The stability of the material spray pipe 51 is effectively increased, and rattling is prevented during rotation.

有益なまた例を示すように、前記素材散布ベース17の先端には前記貯蔵キャビティー64と連通して開閉キャビティー61が設けられ、前記開閉キャビティー61の中にピン接合軸63を介して開閉ドアパネル62がヒンジで装着され、前記開閉ドアパネル62にハンドル60が装着され、貯蔵キャビティー64を封鎖することに便利を与える。 As an advantageous and example, an opening / closing cavity 61 is provided at the tip of the material spraying base 17 in communication with the storage cavity 64, and a pin joint shaft 63 is inserted into the opening / closing cavity 61. An opening / closing door panel 62 is attached by a hinge, and a handle 60 is attached to the opening / closing door panel 62, which is convenient for closing the storage cavity 64.

当該使用方法は以下のプロセスを含む： The method of use includes the following processes:

作業をする時に、開閉ドアパネル62を開けてセメントや、砂や、水などの添加物を貯蔵キャビティー64の中に入れて、開閉ドアパネル62を閉めて、駆動モータ68を起動させ、駆動モータ68が素材かき混ぜブレード58を連動させて、セメントや、砂や、水などの添加物をセメントスラリーに攪拌混合させ、本装置をパイプの中にウォーキングさせてサーチライト15をオンさせ、また本装置が監視プローブ13を介してパイプの内部を検知し、パイプの中にあるクラックあるいはノッチを検知した時に、規制モータ25を起動させ、規制モータ25が第二スライダ21を連動させて通電ブロック22が完全に通電キャビティー24の中に挿入するまで右へ滑り動かし、通電ブロック22が電子制御バルブ55と電気的に接続されるため、この時、電子制御バルブ55が自動的に開き、第二スライダ21が右へ滑り動く時に第一スライダ67を連動させて右へ滑り動かし、また雄スプライン軸31を完全に雌スプラインキャビティー33の中に挿入させ、且つ主動傘歯車27と従動傘歯車66との噛み合いが外れて、この時、駆動モータ68を駆動させるとＬ型素材散布パイプ51を回転駆動させて高圧ノズル41をクラックあるいはノッチと位置合わせし、空気圧シリンダ36を起動させることにより、高圧ノズル41のテレスコ調整を連動させ、即ち、高圧ノズル41とクラックあるいはノッチとの距離を調整し、その後、高圧ノズル41を開けるとセメントスラリーをクラックあるいはノッチに散布することができる。 At the time of work, the opening / closing door panel 62 is opened to put additives such as cement, sand, and water in the storage cavity 64, the opening / closing door panel 62 is closed, and the drive motor 68 is started to drive the drive motor 68. Interlocks the material stirring blade 58 to stir and mix additives such as cement, sand, and water into the cement slurry, and walk this device into the pipe to turn on the searchlight 15, and When the inside of the pipe is detected through the monitoring probe 13 and a crack or a notch in the pipe is detected, the regulation motor 25 is activated, and the regulation motor 25 causes the second slider 21 to interlock with the energization block 22 to complete. Slide it to the right until it is inserted in the energization cavity 24, and the energization block 22 is electrically connected to the electronic control valve 55, so that the electronic control valve 55 automatically When the second slider 21 slides to the right, the first slider 67 is interlocked to slide to the right, and the male spline shaft 31 is completely inserted into the female spline cavity 33, and the driving bevel gear 27 and When the driven bevel gear 66 is disengaged and the drive motor 68 is driven at this time, the L-shaped material spray pipe 51 is rotationally driven to align the high pressure nozzle 41 with the crack or notch and activate the pneumatic cylinder 36. Thus, the telescopic adjustment of the high-pressure nozzle 41 is interlocked, that is, the distance between the high-pressure nozzle 41 and the crack or notch is adjusted, and when the high-pressure nozzle 41 is subsequently opened, the cement slurry can be sprayed on the crack or notch.

本発明の有益効果は：本発明の構成が簡単で操作が便利であり、開閉ドアパネルを開けることによりセメントや、砂や、水などの添加物を貯蔵キャビティーの中に入れて、開閉ドアパネルを閉めて、駆動モータを起動させ、駆動モータが素材かき混ぜブレードを連動させて、セメントや、砂や、水などの添加物をセメントスラリーに攪拌混合させ、本装置をパイプの中にウォーキングさせてサーチライトをオンさせ、また本装置が監視プローブを介してパイプの内部を検知し、パイプの中にあるクラックあるいはノッチを検知した時に、規制モータを起動させ、規制モータが第二スライダを連動させて通電ブロックが完全に通電キャビティーの中に挿入するまで右へ滑り動かし、通電ブロックが電子制御バルブと電気的に接続されるため、この時、電子制御バルブが自動的に開き、第二スライダが右へ滑り動く時に第一スライダを連動させて右へ滑り動かし、また雄スプライン軸を完全に雌スプラインキャビティーの中に挿入させ、且つ主動傘歯車と従動傘歯車との噛み合いが外れて、この時、駆動モータを駆動させるとＬ型素材散布パイプを回転駆動させて高圧ノズルをクラックあるいはノッチと位置合わせし、空気圧シリンダを起動させることにより、高圧ノズルのテレスコ調整を連動させ、即ち、高圧ノズルとクラックあるいはノッチとの距離を調整し、その後、高圧ノズルを開けるとセメントスラリーをクラックあるいはノッチに散布することができ、それによってパイプの内部を効果的に検知することができ、またパイプ内部のクラックあるいはノッチを均一に散布補填することができ、また自動的にセメントスラリーを混合攪拌させ、スタッフがクラックあるいはノッチを補修することに手間がかかるという必要がなく、パイプ補修の負荷を効果的に省き、パイプ検知の作業効率を効果的に高め、押し広めて使用する値打ちがある。 The beneficial effects of the present invention are: the construction of the present invention is simple and convenient to operate, and by opening the opening / closing door panel, additives such as cement, sand, and water are put into the storage cavity to open the opening / closing door panel. Close it, start the drive motor, and the drive motor works with the material mixing blade to stir and mix the additives such as cement, sand, and water with the cement slurry, and walk the device into the pipe to search. When the light is turned on and this device detects the inside of the pipe through the monitoring probe and detects a crack or notch in the pipe, the regulation motor is activated and the regulation motor causes the second slider to interlock. Slide the energization block to the right until it is completely inserted in the energization cavity, and the energization block is electrically connected to the electronically controlled valve. At this time, the electronic control valve automatically opens, and when the second slider slides to the right, the first slider is interlocked to slide to the right, and the male spline shaft is completely inserted into the female spline cavity, and When the driving bevel gear disengages from the driven bevel gear and the drive motor is driven at this time, the L-shaped material spray pipe is rotationally driven to align the high pressure nozzle with the crack or notch and activate the pneumatic cylinder. By interlocking the telescopic adjustment of the high-pressure nozzle, that is, adjusting the distance between the high-pressure nozzle and the crack or notch, and then opening the high-pressure nozzle, it is possible to spray the cement slurry into the crack or notch, thereby The inside can be detected effectively, and cracks or notches inside the pipe can be evenly distributed and filled. In addition, there is no need for the staff to automatically mix and stir the cement slurry to repair cracks or notches, effectively reduce the load of pipe repair, and improve the work efficiency of pipe detection. It is worth raising it effectively and spreading it.

本分野の技術者が明確できるのは、本発明の総体精神や発想から離脱しない場合で、以上の実施例に各種な変形ができ、それらの変形がすべて本発明の保護範囲にある。本発明の保護方案は本発明の権利要求書を標準とすべきである。 It is clear to a person skilled in the art that the present invention can be modified in various ways without departing from the general spirit and idea of the present invention, and all the modifications are within the protection scope of the present invention. The protection plan of the present invention should be based on the claims of the present invention.

Claims (8)

ホイール式走行車体に固着される素材散布ベースと前記ホイール式走行車体に固着されるサポートベースとを含み、前記素材散布ベースの先端面の中にマガジンが設けられ、前記マガジンの先端面の中に貯蔵キャビティーが設けられ、前記貯蔵キャビティーの右側壁と連通してＬ型素材散布パイプが設けられ、前記素材散布ベースの右側端面の中に前記Ｌ型素材散布パイプが回転できるように装着され、且つ前記Ｌ型素材散布パイプの末端に素材散布機構が装着され、前記Ｌ型素材散布パイプの外周の前記素材散布ベースの中にキャビティーが設けられ、前記キャビティーの中にある前記Ｌ型素材散布パイプの外周には従動歯車が固設され、前記マガジンの中に撹拌主軸が回転できるように嵌合装着され、前記撹拌主軸の外周に三組の素材かき混ぜブレードが固設され、前記マガジンのボトム端の前記素材散布ベースの中に伝動スライドキャビティーが設けられ、前記撹拌主軸が前記伝動スライドキャビティーの中に入り込み、且つ前記撹拌主軸のボトム端末端に従動傘歯車が固設され、前記伝動スライドキャビティーの中に第一スライダが滑合装着され、前記第一スライダの右側端面の中に駆動モータが固設され、前記駆動モータの右側端に回動軸が動力で係合装着され、前記回動軸の外周には前記従動傘歯車と噛み合う用の主動傘歯車が固設され、前記主動傘歯車の右側の前記伝動スライドキャビティーの中にはスライドフレームが滑合装着され、前記回動軸が前記スライドフレームの中に入り込み且つ前記スライドフレームと滑合接続され、前記回動軸の右側末端に雄スプライン軸が固設され、前記伝動スライドキャビティーと前記キャビティーの間に転送筒が回転できるように係合接続され、前記転送筒の左側端面の中には前記雄スプライン軸と係合接続する用の雌スプラインキャビティーが設けられ、前記転送筒の右側端面には前記従動歯車と噛み合う主動歯車が固設され、前記伝動スライドキャビティーの底壁の中に規制スライドキャビティーが設けられ、前記規制スライドキャビティーの中には前記第一スライダと固定接続する第二スライダが滑合装着され、前記第二スライダの中にねじロッドが螺合装着され、前記ねじロッドの左側末端が前記規制スライドキャビティーの左側壁と回転できるように係合接続され、前記ねじロッドの右側末端に規制モータが動力で係合装着され、前記規制モータが前記規制スライドキャビティーの右側壁の中に固設されることを特徴とするホイール式パイプ検知ロボット。 A material dispersal base fixed to the wheel-type traveling vehicle body and a support base fixed to the wheel-type traveling vehicle body are provided, and a magazine is provided in the front end surface of the material dispersal base. A storage cavity is provided, an L-shaped material distribution pipe is provided in communication with the right side wall of the storage cavity, and the L-shaped material distribution pipe is rotatably mounted in the right end surface of the material distribution base. A material spraying mechanism is attached to the end of the L-shaped material spraying pipe, a cavity is provided in the material spraying base on the outer periphery of the L-shaped material spraying pipe, and the L-shape is located in the cavity. A driven gear is fixedly mounted on the outer circumference of the material spray pipe, and the stirring spindle is fitted and mounted in the magazine so that the stirring spindle can rotate. A mixing blade is fixedly installed, a transmission slide cavity is provided in the material distribution base at the bottom end of the magazine, the stirring spindle goes into the transmission slide cavity, and the bottom end end of the stirring spindle is provided. A driven bevel gear is fixed, a first slider is slidably mounted in the transmission slide cavity, a drive motor is fixed in the right end surface of the first slider, and the drive motor is fixed to the right end of the drive motor. A rotating shaft is engaged and mounted by power, and a driving bevel gear for meshing with the driven bevel gear is fixedly provided on the outer periphery of the rotating shaft, and is provided in the transmission slide cavity on the right side of the driving bevel gear. A slide frame is slidably mounted, the pivot shaft extends into the slide frame and is slidably connected to the slide frame, and a male sprout is attached to the right end of the pivot shaft. A transfer shaft is fixedly mounted between the transmission slide cavity and the cavity so as to be rotatable, and the left end surface of the transfer cylinder is engaged and connected with the male spline shaft. A female spline cavity is provided, a main driving gear that meshes with the driven gear is fixedly provided on the right end surface of the transfer cylinder, and a regulation slide cavity is provided in the bottom wall of the transmission slide cavity. A second slider fixedly connected to the first slider is slidably mounted in the regulating slide cavity, and a screw rod is screwed and mounted in the second slider, and the left end of the screw rod is the regulating slide. The left side wall of the cavity is rotatably engaged and connected, and the right end of the screw rod is power-engaged with a restriction motor. A wheel type pipe detection robot characterized by being fixedly installed in the right side wall of the slide cavity. 前記素材散布機構はＬ型素材散布パイプの中に設置されるＬ型素材散布キャビティーを含み、前記Ｌ型素材散布キャビティーの中に封止スライドパッドが滑合装着され、前記封止スライドパッドの中に素材散布口が設けられ、前記封止スライドパッドの底部端面に素材散布調節パイプが固設され、前記素材散布調節パイプの中に前記素材散布口と連通して素材散布スペースが設けられ、前記素材散布調節パイプの底部末端に高圧ノズルが固設され、前記Ｌ型素材散布パイプにサポートブロックが固設され、前記サポートブロックの中にスタビライザが滑合装着され、前記スタビライザの底部末端が前記高圧ノズルと固定接続し、前記スタビライザの先端末端にストッパーが固設され、前記Ｌ型素材散布パイプに固定ブロックが固設され、前記Ｌ型素材散布パイプの底部端面に空気圧シリンダが固設され、前記空気圧シリンダのボトム端のピストンロッドにリンクが固定接続され、前記リンクの底部末端が前記高圧ノズルと固定接続されることを特徴とする請求項１に記載のホイール式パイプ検知ロボット。 The material spraying mechanism includes an L-shaped material spraying cavity installed in an L-shaped material spraying pipe, and a sealing slide pad is slidably mounted in the L-shaped material spraying cavity. A material spraying port is provided inside, a material spraying adjustment pipe is fixed to the bottom end surface of the sealing slide pad, and a material spraying space is provided in the material spraying adjusting pipe in communication with the material spraying port. A high pressure nozzle is fixed to the bottom end of the material spray adjusting pipe, a support block is fixed to the L-shaped material spray pipe, and a stabilizer is slidably mounted in the support block, and the bottom end of the stabilizer is Fixedly connected to the high-pressure nozzle, a stopper is fixed to the tip end of the stabilizer, and a fixed block is fixed to the L-shaped material spray pipe. A pneumatic cylinder is fixedly mounted on a bottom end surface of the mold material spraying pipe, a link is fixedly connected to a piston rod at a bottom end of the pneumatic cylinder, and a bottom end of the link is fixedly connected to the high pressure nozzle. The wheel-type pipe detection robot according to claim 1. 前記Ｌ型素材散布キャビティーの左側末端の中に電子制御バルブが固設され、前記規制スライドキャビティーの右側端面に通電キャビティーが設けられ、前記第二スライダの右側端面の中に前記通電キャビティーと挿着して通電ブロックが係合装着され、前記通電キャビティーが制御端末と電気的に接続し、前記通電ブロックが前記電子制御バルブと電気的に接続されることを特徴とする請求項１に記載のホイール式パイプ検知ロボット。 An electronic control valve is fixedly installed in the left end of the L-shaped material spraying cavity, an energization cavity is provided in the right end surface of the regulation slide cavity, and the energization cabinet is in the right end surface of the second slider. The electrically conductive block is engaged and mounted by being inserted into the tee, the electrically conductive cavity is electrically connected to a control terminal, and the electrically conductive block is electrically connected to the electronic control valve. 1. The wheel-type pipe detection robot described in 1. 前記撹拌主軸の外周の前記貯蔵キャビティーの底壁の中にシールリングが装着されることを特徴とする請求項１に記載のホイール式パイプ検知ロボット。 The wheel-type pipe detection robot according to claim 1, wherein a seal ring is mounted in a bottom wall of the storage cavity on an outer periphery of the stirring spindle. 前記サポートベースの右側端面に自在調節機構が装着され、前記自在調節機構に監視プローブが装着され、前記サポートベースの右側先端にサーチライトが装着されることを特徴とする請求項１に記載のホイール式パイプ検知ロボット。 The wheel according to claim 1, wherein a free adjustment mechanism is attached to a right end surface of the support base, a monitoring probe is attached to the free adjustment mechanism, and a searchlight is attached to a right end of the support base. Type pipe detection robot. 前記サポートベースの左側端面に連動軸が回転できるように装着され、前記連動軸が前記Ｌ型素材散布パイプと固定接続されることを特徴とする請求項１に記載のホイール式パイプ検知ロボット。 The wheel type pipe detection robot according to claim 1, wherein an interlocking shaft is rotatably mounted on a left end surface of the support base, and the interlocking shaft is fixedly connected to the L-shaped material spray pipe. 前記素材散布ベースの先端には前記貯蔵キャビティーと連通して開閉キャビティーが設けられ、前記開閉キャビティーの中にピン接合軸を介して開閉ドアパネルがヒンジで装着され、前記開閉ドアパネルにハンドルが装着されることを特徴とする請求項１に記載のホイール式パイプ検知ロボット。 An opening / closing cavity is provided at the tip of the material spraying base so as to communicate with the storage cavity, and an opening / closing door panel is hingedly mounted in the opening / closing cavity via a pin joint shaft, and a handle is attached to the opening / closing door panel. The wheel-type pipe detection robot according to claim 1, which is mounted. 作業をする時に、開閉ドアパネルを開けてセメントや、砂や、水などの添加物を貯蔵キャビティーの中に入れて、開閉ドアパネルを閉めて、駆動モータを起動させ、駆動モータが素材かき混ぜブレードを連動させて、セメントや、砂や、水などの添加物をセメントスラリーに攪拌混合させ、本装置をパイプの中にウォーキングさせてサーチライトをオンさせ、また本装置が監視プローブを介してパイプの内部を検知し、パイプの中にあるクラックあるいはノッチを検知した時に、規制モータを起動させ、規制モータが第二スライダを連動させて通電ブロックが完全に通電キャビティーの中に挿入するまで右へ滑り動かし、通電ブロックが電子制御バルブと電気的に接続されるため、この時、電子制御バルブが自動的に開き、第二スライダが右へ滑り動く時に第一スライダを連動させて右へ滑り動かし、また雄スプライン軸を完全に雌スプラインキャビティーの中に挿入させ、且つ主動傘歯車と従動傘歯車との噛み合いが外れて、この時、駆動モータを駆動させるとＬ型素材散布パイプを回転駆動させて高圧ノズルをクラックあるいはノッチと位置合わせし、空気圧シリンダを起動させることにより、高圧ノズルのテレスコ調整を連動させ、即ち、高圧ノズルとクラックあるいはノッチとの距離を調整し、その後、高圧ノズルを開けるとセメントスラリーをクラックあるいはノッチに散布することができることを含む請求項1-7に記載のホイール式パイプ検知ロボットの使用方法。 When working, open the open / close door panel and put additives such as cement, sand, and water in the storage cavity, close the open / close door panel, start the drive motor, and the drive motor operates the material mixing blade. In conjunction with this, additives such as cement, sand, and water are agitated and mixed with the cement slurry, and this device is walked into the pipe to turn on the searchlight. When the inside of the pipe is detected and a crack or notch in the pipe is detected, the regulation motor is started, and the regulation motor operates the second slider to move to the right until the energization block is completely inserted into the energization cavity. As it slides and the energization block is electrically connected to the electronic control valve, at this time, the electronic control valve automatically opens and the second slider moves to the right. When sliding, the first slider is interlocked to slide to the right, the male spline shaft is completely inserted into the female spline cavity, and the engagement between the main driving bevel gear and the driven bevel gear is disengaged. When the drive motor is driven, the L-shaped material spray pipe is rotationally driven to align the high pressure nozzle with the crack or notch, and the pneumatic cylinder is activated to synchronize the telescopic adjustment of the high pressure nozzle, that is, the high pressure nozzle and the crack. Alternatively, the method of using the wheel-type pipe detection robot according to claim 1-7, further comprising adjusting the distance to the notch and then opening the high-pressure nozzle to spray the cement slurry on the crack or the notch.
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