KR100267128B1 - Industry for pipelaying the inside sweeper - Google Patents

Abstract

PURPOSE: A cleaner is provided to prevent invasion of wastes into oil or gas transferred through a newly-installed pipe by cleaning the inside of the pipe. CONSTITUTION: A self-propelled vehicle(1) vehicle is formed in the shape of a trapezoid and is constituted of a weight body(1A) for stable travel of the vehicle, left and right wheel units(2) for left and right steering and consisting of a wheel(2A) and a caterpillar(2B) and a motor for driving the wheels. Camera heads(3A,3A') and illuminating devices(3B,3B') having tilting units are installed in front and rear of the vehicle. The self-propelled vehicle removes wastes in a newly-installed pipe by sucking.

Description

INDUSTRY FOR PIPELAYING THE INSIED SWEEPER

The present invention relates to a cleaning mechanism inside the industrial pipe, and more particularly, welding debris, welding dung, tape, cigarette butts, disposables, etc. remaining in the new pipe of the LNG carrier or the new pipe used for the industrial use of gas or oil. Removing the cup and the like to facilitate the transfer of gas or oil, as well as to prevent the mixing of foreign substances in these gases or oil.

In general, a self-driving car equipped with a camera head and a lighting device is used to check the condition of corrosion, breakage, and closure inside the sewer pipe.

Such a self-driving car is remotely controlled from the ground, and the self-driving car moves forward and backward into the sewer pipe, and the state of the sewer pipe is checked through a monitor.

As described above, such a self-propelled vehicle is a means necessary for the internal sewage pipe investigation to accurately check the degree of corrosion and damage inside the sewage pipe so that the maintenance work can be performed later.

However, in new pipes such as LNG carriers and industrial plants, self-propelled cars that remove foreign substances generated inside the pipes when new pipes have been developed have not been developed until now.

In other words, when a new industrial pipe is installed, an operator performs work (welding, etc.) inside the pipe. Therefore, foreign matter such as welding dregs, welding dung, tape, cigarette butts, disposable cups, etc. may be stored inside the pipe after the pipe is newly installed. It will remain as it is.

Therefore, not only the transfer of gas or oil is disturbed due to various foreign substances inside the industrial pipes, but also foreign substances are mixed and supplied to the industrial facilities such as gas or oil, which adversely affects the machinery of the industrial facilities. Problems are emerging.

This reality has a great effect on industrial facilities, which causes damage to expensive mechanical equipment, etc., resulting in enormous economic losses. To prevent this, the pipeline is cleaned after stopping the transfer of oil or gas from inside the pipeline. It is a waste of so much time and manpower that it is a great loss for the country.

The present invention was created in order to solve the above problems, and after the construction of the industrial pipes to carry out the cleaning work to take out the foreign matter inside the pipes out of the ground, the foreign matter mixed in the oil or gas transferred to the newly built pipes It is aimed to be smoothly transported without being.

The present invention for achieving the above object is to form a wheel portion consisting of a wheel and a caterpillar, respectively, on both sides of the self-propelled vehicle body, and before and after the self-propelled vehicle body by installing a camera head having a tilting means, Take a photograph of the rear, the upper end of the self-propelled vehicle body is provided with a foreign material removal means for removing the foreign matter inside the new pipe, the conduction detection means for detecting the conduction of the self-propelled vehicle in the upper front of the interior of the self-propelled vehicle body Forming, characterized in that the rear of the self-propelled vehicle body is formed by forming a cable fastener for fastening the cable between the connector and the cable drum.

1 is a perspective view of the present invention

2 is a side operating state diagram of the present invention

3 is a cross-sectional view of the present invention from the front

4 is an electrical configuration for confirming the inclination of the self-propelled vehicle in the present invention

5 is a state diagram passing both sides of the butterfly valve in the pipe in the present invention

6 is a state diagram in which the self-driving vehicle is inclined toward one side of the butterfly valve in the pipe according to the present invention.

7 is a cross-sectional view of the operating state of the foreign matter suction hose in the present invention

8 is a front view according to another embodiment of the present invention

9 is a cross-sectional view of the use state of the cable fastener used in the present invention

10 is a side cross-sectional view of FIG.

11 is a use state diagram of the present invention

* Explanation of symbols for main parts of the drawings

1: self-propelled vehicle body 2: wheel

2B: Caterpillar 3A, 3A ': Camera head

4: new pipe 5: foreign matter

6: bracket 7: foreign material removal means

7A: Foreign substance suction hose 7B: Foreign substance suction port

7C: Cleaning Appliance 7E: Air Supply Line

7F: Motor 7H: Lifting rope

8: conduction detection means 8A: ball guide groove

8B: Ball 9: Cable Tie

10: cable

1 is a perspective view of the present invention, Figure 2 is a front operating state of the present invention, Figure 3 is a side cross-sectional view of the present invention.

If you look at the main body of car 1 from the front, It is formed in a trapezoidal shape of ", and the weight body 1A is installed in the lower part so that the self-driving vehicle can run stably when the self-driving vehicle body 1 runs, and the wheel parts installed on both sides of the self-driving vehicle body 1 ( 2) is configured to allow the left and right wheels 2 to be driven at the same time as well as to make left and right steering, wherein the wheels 2 are constituted of a wheel 2A and a caterpillar 2B. It is configured as a part, the left drive and the right drive motor (not shown) for the drive of the wheel 2A is installed in the self-propelled vehicle body (1).

Then, before and after the self-propelled vehicle body 1, camera heads 3A and 3A 'having tilting means and lighting apparatuses 3B and 3B' are provided. The tilting means is a lifting means composed of a ring means. It is a known technique. However, in the present invention, the camera head 3A and the luminaire 3B are installed before and after the self-propelled vehicle body 1, and the new pipe 4 is installed by the foreign matter removing means described later when the self-propelled vehicle body 2 is moved back and forth. It is a new technology that allows the suction and removal of debris (5)-welding debris, welding dung, tape, cigarette butts, disposable cups, etc. inside.

In addition, the present invention inserts and inserts the foreign matter suction port (7B) to the end of the foreign matter suction hose (7A) passed and supported under the bracket (6) installed on the upper side of the main body (1), the foreign matter suction hose (7A) The other end is connected to the cleaning mechanism (7C), but inside the filter inlet (7D) inside one side of the foreign matter suction hose (7A), the air supply pipe smaller than the diameter of the foreign matter suction hose (7A) on one side of the foreign matter suction hose (7A) ( 7E) is connected so that air can be supplied to the cleaning mechanism 7C side, thereby configuring the foreign matter removing means 7.

In the above, the motor 7F is provided above the bracket 6, and the end of the lifting rope 7H wound on the drum 7G arranged on the motor 7F shaft is fixed to the foreign matter suction port 7B. When the vehicle body 1 proceeds, the foreign matter suction port 7B is kept horizontal, so that forward observation by the camera head 3A is easy, and when the foreign matter 5 is removed, the lower part of the foreign matter suction port 7B is removed. Make sure the surface touches the bottom of the new pipe (4).

In addition, since the inner bottom of the new pipe 4 has an arc, the foreign material suction port 7B forms a lower surface of the foreign material suction port 7B as a curved surface to be interviewed along the bottom of the new pipe 4.

In addition, one side of the foreign matter suction hose 7A, that is, the hose 7A extended to the foreign matter suction port 7B, has a coil spring 7A 'having elasticity therein so that the foreign matter suction hose 7A can move elastically. To help.

In addition, the present invention inserts the ball (8B) into the ball guide groove (8A) formed in the front interior of the upper end of the self-driving vehicle body 1, the switch (SW ₁ , SW ₂ on both upper ends of the ball guide groove 8A) ), And connect the conduction sensing means (8) by connecting the battery (B) and the left and right conduction indicator light emitting diodes (LED ₁ , LED ₂ ) to each of these switches (SW ₁ , SW ₂ ). Configure.

In the above, the light emitting diode (LED ₁ ) is red, the light emitting diode (LED ₂ ) is expressed in yellow, and are installed on both sides of the upper end of the cable fastener 9 to be described later by the rear camera head (3A '). To be observed.

By the way, in the conduction sensing means 8, the present invention is to switch the switch (SW ₁ , SW ₂ ) by using the ball guide groove (8A) and the ball (8B), a commonly known proximity switch It is also possible to turn on / off the switches SW ₁ and SW ₂ by using.

In addition, the present invention is to supply the power, the transmission, and the reception signal supplied to each part installed in the main body of the self-propelled vehicle through the cable 10, and to transmit and receive with the ground monitor 11, this cable One end of the 10 is connected to the connector 12 installed at the rear of the main body of the self-propelled vehicle 1, and the middle part of the cable 10 is fitted into the cable fastening hole 9 to fix the cable 10, and the other end of the cable 10 is a ground cable. The drum 13 is wound up.

In the above, the cable fastener 9 is fitted to the cable fitting groove (9A) of the cable 10, the upper and lower fasteners (9C, 9D) by the bolt (9B), the upper, Auxiliary towing line 14 ring 9E is provided at both ends of lower binding ports 9C and 9D. The auxiliary traction line 14 is used when the self-propelled vehicle body 1 is towed by hand by binding to the ring 9E. In addition, the cable fastener 9 made of the upper and lower fasteners 9C and 9D is made of nylon resin, and when used, touches the inner bottom of the new pipe 4 and drags it to the bottom of the new pipe 4 when transporting autonomous vehicles. This protects the outer shell of the cable 10 from damage.

On the other hand, Figure 8 is a front view according to another embodiment of the present invention by placing a wheel (2C) having a separate large aperture on the wheel (2A) of the wheel portion 2, the self-propelled vehicle is moved to the new pipe 4, It is to be transported more stably when transported after.

In the figure, 7I is a clamp, which is used to separate or couple the foreign matter suction hose 7A to pull out the foreign matter caught in the filtering network 7D. 15 is a stop, left, right, front and rear of the self-driving vehicle and the operation button of the motor (7F) button, 16 is a compressor connected to the air supply pipe (7E), 17 is a power supply, 18 is a guide roller, 19 is a butterfly Valve.

The operation of the present invention configured as described above is as follows.

First, the main body 1 of the self-propelled vehicle is introduced into the newly constructed pipe 4, and then the operation button of the left, right, front and rear transfer operation button 15 of the self-propelled vehicle is pushed to bring the main body 1 to the front side. While conveying, the inside of the new pipe 4 which is taken into the front camera head 3A is observed from the ground through the monitor 11. At this time, the camera head 3A drives the motor 7F in the forward direction by pressing the operation button of the motor operation button unit 15 as shown in FIG. 2 in order to accurately photograph the inside of the new pipe 4 in front. The foreign material suction inlet 7B provided at the end of the foreign matter suction hose 7A is provided with a foreign material suction hose by winding the lifting rope 7H on the drum 7G arranged on the shaft of the motor 7F and stopping the motor 7F. The foreign matter intake port 7B or the foreign matter suction hose 7A interferes with the photographing of the camera head 3A by positioning it horizontally with the 7A or by placing the foreign matter intake port 7B bent upward of the motor 7F. Do not

In the above, when the foreign matter suction hose 7A is bent, the coil spring 7A 'is built in the foreign matter suction hose 7A and easily bent. When the original position is returned, the motor 7F is driven in the reverse direction. It is returned to its original position by releasing the lifting rope 7H. At this time, it is returned to its original position faster by the restoring force of the coil spring 7A '.

In this state, when the foreign matter 5 on the bottom of the new pipe 4 is exposed on the monitor 11 screen, the auto body main body 1 is stopped by pressing the operation button 15 on the ground, and then the motor ( 7F) is driven in the reverse direction to release the lifting rope 7H so that the curved surface of the lower portion of the foreign matter suction port 7B is interviewed by the arc-shaped bottom surface of the new pipe 4 (see Fig. 11).

In this state, when the compressor 16 and the cleaning mechanism 7C on the ground are operated, the foreign matter 5 such as a disposable paper cup, welding dregs, a cigarette butt, etc. is caused by the suction force of the cleaning mechanism 7C. Sucked to the side through the foreign matter suction hose (7A) through the filter net (7D), the foreign matter 5, such as a paper cup is caught by the filter net (7D), fine foreign matter is sucked into the cleaning mechanism (7C). At this time, when the external air is supplied to the air supply pipe 7E by the operation of the compressor 16, the air is supplied to the inside of the foreign matter suction hose 7A at a high speed, thereby sucking the foreign matter 5 The suction speed is very fast, which greatly shortens the cleaning time of the foreign matter.

As described above, the self-propelled vehicle body 1 enters the new pipe 4 and is transported to remove the foreign matter 5. The camera head 3A has a tilting means, so that the suction work of the foreign matter 5 is performed from the outside. The foreign material suction port 7B side is photographed so that it can be observed. In the above description, the case in which the self-propelled vehicle body 1 moves forward is described. However, the foreign body 5 can be suctioned and removed while reversing the autonomous vehicle body 1. It may be.

In this way, when the self-propelled vehicle main body 1 moves while cleaning the inside of the new pipe 4, the broken cable binding hole 9 reaches the bottom of the new pipe 4 while being transferred to the main body 1 of the self-propelled vehicle. Since the cable 10 is not brought into contact with the new pipe 4 to prevent damage to the cable 10, the upper and lower binding ports 9C and 9D constituting the cable binding port 9 Since it is made of nylon resin, it is very slippery when the main body of the car is transferred, so that it does not interfere with the transfer of the main body of car.

Then, the auxiliary traction line 14 is hooked to the hook 9E of the cable fastener 9 to connect the autonomous vehicle body 1 and the cable drum 13, and the auxiliary traction line 14 is manually connected. When pulled, the self-propelled vehicle body 1 can be easily transported to the rear without applying a tensile force to the cable 10.

If the auxiliary traction line 14 is not attached to the cable fastening hole 9, the self-propelled vehicle body 1 should be pulled by the cable 10. ) Or there is a problem that the cable 10 is detached from the connector 12.

Meanwhile, a butterfly valve 19 for stopping the transfer of gas or petroleum or the like or installing a butterfly valve 19 is installed in the pipe where gas or petroleum is transferred, and the butterfly valve in the new pipe 4 is installed. It is a very difficult problem for the main body 1 to pass through 19. However, the present invention has a means for allowing the autonomous vehicle body 1 to pass to one side of the butterfly valve 19.

That is, the present invention shows when the self-propelled vehicle body 1 passes through one side of the butterfly valve 19 as shown in FIG.

That is, when the self-propelled vehicle body 1 comes into contact with the butterfly valve 19 while moving forward or backward, the left wheel 2A and the left caterpillar 2B or the right wheel 2A and the right caterpillar of the wheel part 2 By steering 2B to one side so that the caterpillars 2B on both sides are positioned on one side wall of the newly formed pipe 4, as shown in FIG. 6, and conveyed while advancing to one side of the butterfly valve 19, The self-propelled vehicle body 1 passes safely to one side of the butterfly valve 19.

At this time, as shown in FIG. 6, when the self-driving vehicle body 1 is transported while the caterpillar 2B comes in contact with one side wall of the newly formed pipe 4, the weight body 1A is placed inside and below the self-driving vehicle body 1. Is built in, and when the self-propelled vehicle body 1 is viewed from the front, "Since the trapezoidal shape is shaped, the center of the self-propelled vehicle main body 1 is located on the lower side so that the self-propelled vehicle main body 1 does not touch the side of the butterfly valve 19 severely, but the work of the newly installed pipe 4 Since the side wall is formed in an arc shape, one side of the caterpillar 2B of the self-propelled vehicle body 1 is transferred away from one wall of the newly formed pipe 4, so that the upper end of the self-propelled vehicle body 1 is a butterfly valve. There is a fear that the one side wall of the (19) is to be touched, and this may occur when the transfer of the self-propelled vehicle body (1) is blocked.

In this way, when the self-propelled vehicle body 1 is inclined to one side wall of the butterfly valve 19, the ball 8B therein is along the ball guide groove 8A formed in the front inside of the upper end of the self-propelled vehicle body 1. ) Touches the switch (SW ₁ ) or switch (SW ₂ ) at the top of one side so that the switch (SW ₁ ) or switch (SW ₂ ) is turned on, and when this switch (SW ₁ ) or switch (SW ₂ ) is turned on, the battery (B), the red or yellow light emitting diodes LED ₁ and LED ₂ constitute a closed circuit, and the red or yellow light emitting diodes LED ₁ and LED ₂ emit light.

Accordingly, since the red or yellow light emitting diodes LED ₁ and LED ₂ are installed at both sides of the upper end of the cable fastening hole 9, the red or yellow light emitting diodes LED ₁ and LED ₂ are photographed by the camera head 3A 'installed at the rear of the main vehicle body 1. This signal is displayed on the monitor 11 screen on the ground so that the operator can easily check which side of the self-propelled vehicle body 1 is inclined to the left or the right side in the new pipe 4.

As such, if the state of the self-propelled vehicle body 1 is inclined, if the self-propelled vehicle body 1 is inclined to the right or left side, the left wheel is driven by driving the left and right wheel driving motors, which are not shown on the ground, respectively. 5 and the right wheel part 2 to rotate faster than the left wheel part 2 or the right wheel part 2 so that the center of gravity of the autonomous vehicle body 1 is left or right. As described above, the caterpillar 2B of the self-propelled vehicle body 1 can be easily transported in contact with the surface of one side wall of the new pipe 4.

Therefore, the present invention can pass safely through the butterfly valve 19 that prevents the transfer of the self-propelled vehicle body 1, and can smoothly clean the inside of the newly formed pipe 5 having a long passage.

As described above, the present invention can remove and remove foreign substances remaining in the new pipe to the filtering net and the vacuum cleaner side, so that oil or gas transferred to the LNG carrier or industrial pipe can be smoothly transferred, It has the effect of preventing damage to the industrial machine accordingly.

In addition, the present invention can smoothly clean the inside of the newly installed pipe having the air passage by allowing the self-driving car to pass safely to one side of the butterfly valve installed at any position of the industrial pipe, thereby greatly improving the efficiency of the cleaning of the new pipe. It can be made, and by performing a foreign material suction removal speed quickly has an effect that can greatly shorten the time of cleaning operation.

Claims (6)

A camera head 3A having a wheel part 2 composed of wheels A and a caterpillar 2B, respectively, on both sides of the self-propelled vehicle body 1 and having tilting means in front and rear of the self-propelled vehicle body 1, respectively. , 3A ') to photograph the front and rear of the self-propelled vehicle, and the foreign material suction hose (7A), foreign material suction port (7B) to the top of the main body (1) to remove the foreign matter inside the new pipe (4) And a foreign material removal means (7) consisting of a total fire mechanism (7C), a filter net (7D), an air supply pipe (7E), a motor (7F), a drum (7G), and a lifting rope (7H). 1) inside the front upper part of the ball guide groove (8A), the ball (8B), the switch (SW ₁ , SW ₂ ), the light emitting diode (LED ₁ , LED ₂ ) to detect the conduction of the self-propelled vehicle A conduction detecting means (8) formed, and at the rear of the self-propelled vehicle body (1), a cable fastener (9) for fastening the cable (10) between the connector (12) and the cable drum (13) is formed. Industrial Piping internal cleaning mechanism wherein eojin. The method of claim 1, If you look at the main body of car 1 from the front It is formed in a trapezoid of ", and the inside of the autonomous vehicle body (1) in the inside and below the weight body (1A) in the internal pipe construction, characterized in that the vacuum cleaner. The method of claim 1, The foreign substance removal means 7 inserts and inserts the foreign substance suction port 7B at the end of the foreign substance suction hose 7A supported and passed under the bracket 6 installed on the upper portion of the self-driving vehicle body 1. (7A) The other end is connected to the vacuum cleaner (7C), the foreign matter suction hose (7A) inside one side of the filter net (7D), the foreign matter suction hose (7A) one side of the air smaller than the diameter of the foreign matter suction hose (7A) A lifting rope 7H wound up on a drum 7G built up on a motor 7F shaft installed above the bracket 6 by connecting a supply pipe 7E to allow the air to be supplied to the cleaning mechanism 7C. An internal pipe cleaning device, characterized in that the end is fixed to the foreign matter suction port (7B). The method of claim 1, The conduction detection means 8 inserts the ball 8B into the ball guide groove 8A formed in the front interior of the upper portion of the self-driving vehicle body 1, and switches the switches SW ₁ at both upper ends of the ball guide groove 8A. , SW ₂ ), and the light emitting diodes (LED ₁ , LED ₂ ) for the battery (B) and the left and right conduction markings on each of these switches (SW ₁ , SW ₂ ) are connected to the cable connector (9). It is installed on both sides of the top of the vacuum cleaner inside the industrial pipe, characterized in that configured to shoot with the rear camera head (3A '). The method according to claim 1 or 4, The cable fastener 9 fits the cable 10 into the inner cable fitting groove 9A, and combines the upper and lower fasteners 9C and 9D with bolts 9B, and the upper and lower fasteners ( 9C, 9D) Cleaner mechanism inside the industrial piping, characterized in that the auxiliary towing line 14, the hook (9E) is installed on both ends. The method of claim 3, wherein Vacuum cleaner inside the industrial pipes, characterized in that to form the lower surface of the foreign matter suction port (7B) to the curved surface.