KR100550056B1 - Robert working machine for underground - Google Patents

Abstract

The present invention relates to an underwater robot dredger for dredging sewer pipe, more specifically, the power hose 314 and the discharge hose (334) as the dredging robot 200 moves in the underground ground to perform the dredging work underground. ) Is installed or rolled hose roll (300) and the auger screw 210 attached to the front of the dredging robot 200 to dig underground ground to form the earth and sand by the auger screw 210 and the underwater motor ( Due to the vacuum generated by operating the underwater suction pump 232, the rotary force of 230 is sucked into the suction port 220 mounted on the rear of the auger screw 210, so that the discharge hose 240 and the discharge pipe 242 are rotated. And sewage pipes, sewage culverts, sewage culverts, reservoirs, sewage treatment plants, sedimentation sites and sewers It relates to the underwater robot capable of dredging dredge dredging.

Sewer pipe, dredging, underwater robot dredger, power hose, discharge hose, hose roll

Description

Underwater robot dredger {robert working machine for underground}

1 is a state diagram showing a state in which the underwater robot dredger of the present invention is installed.

Figure 2 is a perspective view showing a hydraulic generating engine unit 100 is installed outside the sewer pipe in the underwater robot dredger of the present invention.

3 is a hose roll 300 in which the power hose 314 and the discharge hose 334 are wound or unwound so that the dredging robot 200 moves underground in the underground of the robot dredger of the present invention. Perspective view.

Figure 4 is a perspective view showing the dredging robot 200 installed in the underground sewer pipe of the underwater robot dredger of the present invention.

* Explanation of symbols for main parts of the drawings

100: oil generating engine unit 110: oil generating engine

120: silencer 130: hydraulic pump

140: hydraulic oil tank 150: hydraulic hose

200: dredge robot 202: frame

210: August screw 220: suction port

230: submersible motor 232: submersible suction pump

240: discharge hose 242: discharge pipe

250: hermetic valve device 260: hermetic hydraulic valve

262: power hose connection 264, 264-1, 264-2: hydraulic valve

270: chain wheel 274: rear wheel

276: front wheel 280: underwater camera

282: underwater light 284: monitoring monitor

300: hose roll 310: power hose roll

312: power wiring 314: power hose

320: hose roll adjusting device 330: discharge hose roll

334: discharge hose 400: dredged soil collection vehicle

410: sludge separator 420: separation hose

A: Sewer Inlet B: Underground Sewer Pipe

C: ground

The present invention relates to an underwater robot dredger for dredging sewer pipe, more specifically, the power hose 314 and the discharge hose (334) as the dredging robot 200 moves in the underground ground to perform the dredging work underground. ) Is installed or rolled hose roll (300) and the auger screw 210 attached to the front of the dredging robot 200 to dig underground ground to form the earth and sand by the auger screw 210 and the underwater motor ( Due to the vacuum generated by the rotational power of 230 operating the underwater suction pump 232, the sedimentary vortex is sucked into the suction port 220 mounted on the rear of the auger screw 210 to discharge the discharge hose 240 and the discharge pipe 242. ), Sewer pipes, sewage culverts, sewage culverts, reservoirs, sewage treatment plants, sedimentation sites and sewers It is about an underwater robot dredger that can dredify dredging.

The present invention relates to an underwater robot dredger for working in sewage pipes, reservoirs, sewage sewer pipes, sewage culverts, reservoirs, sewage treatment plants, sedimentation sites and riverbed dredging, which is difficult to dredge with manpower or other conventional dredging equipment. The underwater dredging robot of the present invention receives power through the engine and the power hose roll on the ground without the need for a separate traction device, the underwater dredging robot to move forward and backward by remote control, the auger screw rotation and stop by remote control The submersible pump starts and stops by remote control. The sludge is approached by the sludge and sucked into the auger screw, which is then transferred to the sludge separator through the submersible pump and the discharge hose roll on the ground. Although conventional dredgers make the sewage cloudy and inefficient when dredging the sludge, the underwater robot dredger of the present invention sewage sludge close to the sludge and transported to the sludge separator on the ground to separate and discharge the sludge. The dredging can be dredged with little secondary environmental pollution, and the dredging robot can be dredged efficiently while controlling the dredging robot.

In the places where humans live and conduct production activities, large amounts of water are used, which leads to an increase in living sewage and industrial wastewater.In the case of rainy areas or heavy rains like Korea, a large amount of rainwater flows through sewage pipes. In such a case, floating sewage or earth and sand, etc. loaded in sewage flowing with rainwater as well as living sewage flowing in the sewage pipe are easily deposited due to natural sedimentation or a slow flow rate in a curved or expanded pipeline. As sediment increases, sewer pipes gradually become clogged and even flow back to harm the living environment. In order to prevent such damages, the sewer pipe should be installed and managed well. In any case, as urban activities and industrial activities become more active, the role of sewers becomes very important and indispensable for the creation of urban environments. In addition, the sewer plays an important role as a vein in the human body, and dredging is required for the maintenance of such sewerage, and neglecting this dredging operation causes constipation throughout the city, resulting in massive economic damage and disasters for human life. Done. Sewer management is the first consideration in urban development and its maintenance is very important.

The dredging work of sewer pipe has a dredging method and a mechanical dredging method by manpower, and the conventional mechanical dredging method merely replaces manpower with mechanical force. In the conventional dredging device used in such a mechanical dredging method, a winch bucket dredge and a nozzle which installs a winch at both ends of a sewer pipe, connects a bucket between the winches, and reciprocates until the soil is dredged to dredge the sewer pipe. There is a high pressure jet dredging and washing machine with one high pressure outlet and several high pressure outlets inclined to the nozzle side in front of them, but these conventional devices lack work stability and thus do not follow the trend. Not only do people who want to work in the industry avoid jobs, but they also have drawbacks that make dredging less efficient and cannot be dealt with quickly.

In addition, the work efficiency is reduced, and dredges such as curved or large pipes cannot be dredged, and some sections may be dredged according to the shape of the sewer pipe since the sections that can be treated like the straightening section are limited by the conventional apparatus. Some dredging such as this will not be able to fully communicate with the sewer. In addition, there is a risk of harming public health and hygiene due to the odor caused by the dredged soil dredged in the conventional dredging site, there was a problem that impaired traffic and environment during the work period of the construction section.

In addition, a conventional underwater robot dredger is known from Utility Model Publication No. 1993-2506 and is disclosed in Patent No. 10-405065, but the dredging robot is moved as it moves in the underground ground to perform the dredging work underground. There is a problem in that the passage of the obstacle and the environment is dirty during the working hours of the construction section because it is not equipped with a hose roll for winding or unwinding the power hose and discharge hose.

Accordingly, an object of the present invention is to solve such a conventional problem by using an automatic unmanned driving robot equipped with a power running unit without a manpower in the sewage pipe to crush the sedimentary soil while moving forward and backward with a simple operation to form a vortex in the sewer pipe It is to provide a submersible robot dredger that floats sedimentary soil and inhales the suspended soil vortices and automatically dredges while monitoring the internal condition of the sewer pipe irrespective of the size and bend of the sewer pipe.

In addition, an object of the present invention is to provide a hose roll 300, the power hose 314 and the discharge hose 334 is wound or unrolled as the dredging robot 200 moves in the underground ground to perform the dredging work underground. When the auger screw 210 attached to the front of the dredging robot 200 digs the ground underneath, the earth screw is formed by the auger screw 210 and the rotational force of the submersible motor 230 operates the submersible suction pump 232. Soil vortex is sucked into the suction port 220 mounted on the rear of the auger screw 210 by the vacuum generated by the vacuum, and the soil sucked in the suction port 220 is discharged through the discharge hose 240 and the discharge pipe 242. To provide an underwater robot dredger.

Underwater robot dredger of the present invention dredging robot intake sludge close to the sludge and transport the sludge to the sludge separator on the ground to separate and discharge the sludge can dredging almost no secondary environmental pollution of sewage and dredging Underwater camera mounted on robot is to control dredging robot efficiently and efficiently dredging.

In order to achieve the above object, the present invention provides a hydraulic engine unit 100 installed outside the sewage pipe; It is installed outside the sewer pipe, the power hose roll 310 is wound on the power hose 314 and the discharge hose roll 330 is wound on the frame, the hydraulic generating engine unit 100 Hose roll adjusting device 320 is connected to the side of the hose roll 300 is connected to the hydraulic hose 150 of the), the dredging robot 200 is driven to proceed to dredging underground as the ground moves A hose roll 300 to which the hose 314 and the discharge hose 334 are wound or unwound; The power hose 314 of the hose roll 300 is connected to the hermetic hydraulic valve 260 at the rear of the dredging robot 200, the hermetic hydraulic valve 260 is connected to the hermetic valve device 250, the hermetic The plurality of hydraulic valves 264, 264-1, and 264-2 separated from the valve device 250 are connected to the auger screw 210 and the submersible motor 230, and the auger screw 210 attached to the front is underground. When digging the ground, the earth and sand vortex is formed by the auger screw 210 and the earth and earth vortex is formed on the rear of the auger screw 210 by the vacuum generated by the rotational force of the underwater motor 230 operating the underwater suction pump 232. A dredging robot 200 which is sucked into the suction port 220 mounted and discharged through the suction hose 220 and the discharge pipe 240 through the discharge hose 240 and the discharge pipe 242; An underwater camera 280 and a underwater light 282 mounted to the front of the dredging robot 200 to observe and monitor a working state and a pipe shape inside the sewer pipe; A monitoring monitor 284 connected to the underwater camera 280 mounted on the dredging robot 200 so as to monitor the inside of the sewer pipe from the outside of the sewer pipe; It is installed on the dredged soil collecting vehicle 400, the turbidity of the soil and water sucked through the suction port 220 of the dredged robot 200 lowers the flow rate flowing through the discharge hose 334 of the hose roll 300 Soil is deposited and collected, and the water is passed through the separation hose 420, characterized in that consisting of a sludge separator 410 to discharge to the sewer.

In the underwater robot dredger of the present invention, the oil pressure generating engine unit 100 includes a oil pressure generating engine 110 mounted on a frame; A silencer 120 attached to the hydraulic engine 110; A hydraulic pump 130 connected to the hydraulic engine 110; A hydraulic oil tank 140 connected to the hydraulic pump 130; And a plurality of hydraulic hoses 150 connected to the hydraulic pump 130 and the hydraulic oil tank 140. In addition, in the underwater robot dredger of the present invention, the hose roll 300 includes a power hose roll 310 in which a power hose 314 in which a plurality of power wires 312 are built-in is wound; A discharge hose roll 330 on which a discharge hose 334 is wound; And a hose roll adjusting device 320 mounted on the side of the hose roll 300. In addition, the dredging robot 200 in the underwater robot dredger of the present invention is the auger screw 210 attached to the front to dig underground ground; Form the earth and sand vortex by the auger screw 210 and is mounted on the rear of the auger screw 210 to suck the earth and sand vortex by the vacuum generated by the rotational force of the submersible motor 230 to operate the underwater suction pump 232 A suction port 220; An underwater suction pump 232 connected to the suction port 220; An underwater motor 230 connected to the submersible suction pump 232 and connected to the hydraulic pressure generated from the hydraulic engine 110; A discharge hose 240 connected to the submersible motor 230 and discharged through the soil to be sucked from the suction port 220; A discharge pipe 242 to which the discharge hose 240 and the discharge hose 334 of the hose roll 300 are connected; A sealed valve device 250 into which a sealed hydraulic valve 260 enters and is classified into a plurality of hydraulic valves 264, 264-1, and 264-2; Hermetic hydraulic valve 260 connected to the side of the hermetic valve device 250; A power hose connector 262 formed at an end of the hermetic hydraulic valve 260 and connected to the power hose 314; A plurality of hydraulic valves 264, 264-1 and 264-2 separated from the hermetic valve device 250 and connected to the auger screw 210 and the submersible suction pump 232; A pair of rear wheels connected to the hermetic valve device 250 and connected to the pair of front wheels 276 and the front wheels 276 attached to both sides of the frame to move forward and backward through the reducer and simultaneously rotate with the front wheels. 274 is characterized by consisting of a chain wheel 270 is connected by a chain.

Hereinafter, the present invention will be described in detail with reference to the accompanying drawings. As can be seen in FIG. 1, the underwater robot dredger of the present invention installs a hydraulic generating engine unit 100 on which a hydraulic pump 130 is mounted on a frame on the ground (C) outside the sewerage system. A dredged soil collection vehicle 400 is disposed nearby, and an unmanned dredging robot 200 remotely controlled is disposed in a sewer box B of an underground sewer pipe, and the dredging robot 200 performs dredging work underground. The hose roll 300, which the power hose 314 and the discharge hose 334 are wound or unwound as it moves in the ground, is installed on the frame of the dredged soil collecting vehicle 400, and is attached to the front of the dredged robot 200. When the auger screw 210 digs the underground ground, the earth and sand vortex is formed by the auger screw 210 and the earth and sand vortex is auged by the vacuum generated by the rotational force of the submersible motor 230 operating the submersible suction pump 232. On the back of the screw 210 Is sucked into the suction port, which is affixed (220), the suction sediment in the inlet 220 is discharged through the discharge hose 240 and the discharge pipe 242. The

As can be seen in Figure 3, in the underwater robot dredger of the present invention, the hose roll 300 is a power hose roll 310 and the discharge hose is wound (power hose 314 is built in a plurality of power wiring 312) It is composed of a discharge hose roll 330 is wound 334 and the hose is wound or unwound by the hydraulic power of the hydraulic generating engine unit (100). Hydraulic pressure generated in the oil pressure generating engine unit 100 flows through the hose roll adjusting device 320 mounted on the side of the hose roll 300.

1 and 4, the dredging robot 200 of the present invention can move freely in the sewer pipe. As can be seen in Figure 1 the turbidity of the soil and water sucked through the suction port 220 of the dredging robot 200 passes through the discharge hose 334 of the hose roll 300 is installed in the dredged soil collecting vehicle 400 By moving to the sludge separator 410 and lowering the flow rate flowing in the sludge separator 410, the earth and sand are collected by sedimentation, and the water passes through the separation hose 420 again to discharge to the sewer, the dredged soil collection vehicle 400 It is connected to the underwater light 282 and the underwater camera 280 is provided with a monitor 284 for monitoring the inside of the sewer pipe from the sewer pipe outside.

As can be seen in FIG. 1, the underwater robot dredger according to the present invention has an engine power, a hydraulic device, and a hydraulic control device on the ground, and these engine power, hydraulic device, and hydraulic control device are electrically operated together with devices to operate underground. Controlled by the device and electronics. In the dredger of the present invention, the underground operation unit is an electronic device that interworks with a pump drive unit, a propulsion drive unit, and a ground device.

In addition, it is possible to use the electric power instead of hydraulic power to operate the driving part, and to be used not only for dredging sewer pipes, but also for other uses such as reservoirs, sewage sewer pipes, sewage culverts, reservoirs, sewage treatment plants, settlements and bed dredging, All of these can be changed and modified within the spirit and scope of the present invention.

Underwater robot dredger according to the present invention dredging robot can intake the sludge close to the sludge and transfer the sludge to the sludge separator on the ground to separate and discharge the sludge so that the dredging with little secondary environmental pollution of sewage can be Underwater camera mounted on dredging robot controls dredging robot efficiently while dredging and protects workers from harmful environment and harmful gas in sewer pipe of manpower or conventional device, thus avoiding work evasion phenomenon and large pipe and box pipe Dredging can be carried out efficiently and efficiently, which is a very practical invention for sewerage and cleaning operations.

Claims (4)

Hydraulic generating engine unit 100 is installed outside the sewer pipe; It is installed outside the sewer pipe, the power hose roll 310 is wound on the power hose 314 and the discharge hose roll 330 is wound on the frame, the hydraulic generating engine unit 100 Hose roll adjusting device 320 is connected to the side of the hose roll 300 is connected to the hydraulic hose 150 of the), the dredging robot 200 is driven to proceed to dredging underground as the ground moves A hose roll 300 to which the hose 314 and the discharge hose 334 are wound or unwound; The power hose 314 of the hose roll 300 is connected to the hermetic hydraulic valve 260 at the rear of the dredging robot 200, the hermetic hydraulic valve 260 is connected to the hermetic valve device 250, the hermetic The plurality of hydraulic valves 264, 264-1, and 264-2 separated from the valve device 250 are connected to the auger screw 210 and the submersible motor 230, and the auger screw 210 attached to the front is underground. When digging the ground, the earth and sand vortex is formed by the auger screw 210 and the earth and earth vortex is formed on the rear of the auger screw 210 by the vacuum generated by the rotational force of the underwater motor 230 operating the underwater suction pump 232. A dredging robot 200 which is sucked into the suction port 220 mounted and discharged through the suction hose 220 and the discharge pipe 240 through the discharge hose 240 and the discharge pipe 242; An underwater camera 280 and a underwater light 282 mounted to the front of the dredging robot 200 to observe and monitor a working state and a pipe shape inside the sewer pipe; A monitoring monitor 284 connected to the underwater camera 280 mounted on the dredging robot 200 so as to monitor the inside of the sewer pipe from the outside of the sewer pipe; It is installed on the dredged soil collection vehicle 400, the turbidity of the soil and water sucked through the suction port 220 of the dredging robot 200 flows through the discharge hose 334 of the hose roll 300 Underwater robot dredger characterized in that the sediment is collected by sedimentation and the sludge separator 410 is discharged to the sewer through the separation hose 420 again. According to claim 1, wherein the oil pressure generating engine unit 100 includes a oil pressure generating engine (110) mounted on the frame; A silencer 120 attached to the hydraulic engine 110; A hydraulic pump 130 connected to the hydraulic engine 110; A hydraulic oil tank 140 connected to the hydraulic pump 130; And a hydraulic hose (150) connected to the hydraulic pump (130) and the hydraulic oil tank (140). The method of claim 1, wherein the hose roll 300 is a power hose roll 310, the power hose 314, a plurality of built-in power wiring 312 is wound; A discharge hose roll 330 on which a discharge hose 334 is wound; And a hose roll adjusting device (320) mounted on the side of the hose roll (300). According to claim 1, The dredging robot 200 is an auger screw 210 attached to the front to dig underground ground; Form the earth and sand vortex by the auger screw 210 and is mounted on the rear of the auger screw 210 to suck the earth and sand vortex by the vacuum generated by the rotational force of the submersible motor 230 to operate the underwater suction pump 232 A suction port 220; An underwater suction pump 232 connected to the suction port 220; An underwater motor 230 connected to the submersible suction pump 232 and connected to the hydraulic pressure generated from the hydraulic engine 110; A discharge hose 240 connected to the submersible motor 230 and discharged through the soil to be sucked from the suction port 220; A discharge pipe 242 to which the discharge hose 240 and the discharge hose 334 of the hose roll 300 are connected; A sealed valve device 250 into which a sealed hydraulic valve 260 enters and is classified into a plurality of hydraulic valves 264, 264-1, and 264-2; Hermetic hydraulic valve 260 connected to the side of the hermetic valve device 250; A power hose connector 262 formed at an end of the hermetic hydraulic valve 260 and connected to the power hose 314; A plurality of hydraulic valves 264, 264-1 and 264-2 separated from the hermetic valve device 250 and connected to the auger screw 210 and the submersible suction pump 232; A pair of rear wheels connected to the hermetic valve device 250 and connected to the pair of front wheels 276 and the front wheels 276 attached to both sides of the frame so as to move forward and backward through the reducer and simultaneously rotate with the front wheels ( Underwater robot dredge, characterized in that consisting of a chain wheel 270 is connected to the chain 274.

Images