KR100770976B1 - Manless cleanning cars for revival water supply pipe - Google Patents

Manless cleanning cars for revival water supply pipe Download PDF

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Publication number
KR100770976B1
KR100770976B1 KR1020070031477A KR20070031477A KR100770976B1 KR 100770976 B1 KR100770976 B1 KR 100770976B1 KR 1020070031477 A KR1020070031477 A KR 1020070031477A KR 20070031477 A KR20070031477 A KR 20070031477A KR 100770976 B1 KR100770976 B1 KR 100770976B1
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KR
South Korea
Prior art keywords
rehabilitation
vehicle body
vehicle
pipe
driving
Prior art date
Application number
KR1020070031477A
Other languages
Korean (ko)
Inventor
김동현
민경수
박상봉
이경섭
성 황보
Original Assignee
수자원기술 주식회사
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
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Publication date
Application filed by 수자원기술 주식회사 filed Critical 수자원기술 주식회사
Priority to KR1020070031477A priority Critical patent/KR100770976B1/en
Application granted granted Critical
Publication of KR100770976B1 publication Critical patent/KR100770976B1/en

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Classifications

    • BPERFORMING OPERATIONS; TRANSPORTING
    • B08CLEANING
    • B08BCLEANING IN GENERAL; PREVENTION OF FOULING IN GENERAL
    • B08B9/00Cleaning hollow articles by methods or apparatus specially adapted thereto
    • B08B9/02Cleaning pipes or tubes or systems of pipes or tubes
    • B08B9/027Cleaning the internal surfaces; Removal of blockages
    • B08B9/04Cleaning the internal surfaces; Removal of blockages using cleaning devices introduced into and moved along the pipes
    • B08B9/049Cleaning the internal surfaces; Removal of blockages using cleaning devices introduced into and moved along the pipes having self-contained propelling means for moving the cleaning devices along the pipes, i.e. self-propelled
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B25HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25JMANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J11/00Manipulators not otherwise provided for
    • B25J11/008Manipulators for service tasks
    • B25J11/0085Cleaning
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B25HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25JMANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J5/00Manipulators mounted on wheels or on carriages
    • B25J5/02Manipulators mounted on wheels or on carriages travelling along a guideway
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B25HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25JMANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00Programme-controlled manipulators
    • B25J9/16Programme controls
    • B25J9/1679Programme controls characterised by the tasks executed
    • B25J9/1689Teleoperation
    • EFIXED CONSTRUCTIONS
    • E03WATER SUPPLY; SEWERAGE
    • E03FSEWERS; CESSPOOLS
    • E03F9/00Arrangements or fixed installations methods or devices for cleaning or clearing sewer pipes, e.g. by flushing
    • E03F9/002Cleaning sewer pipes by mechanical means

Abstract

The present invention is applied to the rehabilitation method of the water pipe, which is filed as the same, and can automatically perform related work such as the investigation of the environment inside the pipe and the removal of the scale fixed on the inner wall of the pipe while traveling the inside of the pipe by remote control. An autonomous customs vehicle for rehabilitation of water pipes, comprising: a track portion (2) for driving a vehicle body (1) equipped with a camera; A track steering unit (3) for adjusting the tilting and direction of the track unit (2); Injector (4) horizontally installed to the front side of the vehicle body (1) is connected to the external waterjet equipment and injected to the inner wall of the conduit through the injection nozzle 41 of the tip portion for rotating the ultra-high pressure water supplied from the waterjet equipment Wow; The control unit 5 is installed in the vehicle body 1 and controls the driving of the devices according to the control data received from the external remote controller 300, thereby speeding up the customs process, as well as simplicity, efficiency and economy of the customs process. There is an effect that can be secured.

Description

Manless cleanning cars for revival water supply pipe}

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

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

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

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

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

6 is a bottom view of the present invention.

7 is a side view of the present invention.

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

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

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

12 is a schematic circuit diagram of the present invention.

* Explanation of symbols for main parts of the drawings

1: vehicle body 2: track part

3: Orbital steering unit 4: Injection device

5: control part 6: lift drive part

7: Position adjusting means 8: Collecting device

9: Movable Spray Nozzle 11: Surveillance Camera

12: Cover 13: Observation camera

14: pump for pumping 15: towing device

31: hinge joint 32: hydraulic cylinder

41: spray nozzle 42: water supply pipe

43: housing 44: circular pulley

45: driven pulley 46: drive belt

51: receiver 52: central processing unit

53: drive part 54: transmitter part

61: spiral shaft 61a, 61b: spiral portion

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

64: spiral shaft drive part 71: base plate

71a: spindle 72: support plate

73: rotation support 74: rotation drive unit

75: linear moving part 81: brush

81a: abrasive brush 81b: iron brush

82: tea collection slot 83: tea collection tank

84: vacuum suction motor 90: nozzle body

91: Nozzle fixing tool 92: Spherical roller

93: Spring 94: Stopper

151: winch 152: wire rope

153: electromagnet 311: body support

312: Orbit support piece 315: Spherical contact bearing

642: driven pulley 643: electric pulley

644: Electric belt 741: External gear

742: driving gear 751: rail

752: Feed shaft 753: Feed nut

The present invention is applied to the rehabilitation method of the water pipe, which is filed as the same, and can automatically perform related work such as the investigation of the environment inside the pipe and the removal of the scale fixed on the inner wall of the pipe while traveling the inside of the pipe by remote control. It relates to an unmanned customs vehicle for water rehabilitation.

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

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

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

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

Accordingly, the present invention is applied to the rehabilitation method of the water pipe, the water pipe can automatically perform the related work such as the investigation of the environment inside the pipe and removing the scale fixed to the inner wall of the pipe while traveling the inside of the pipe by remote control Its purpose is to provide unmanned customs vehicles for rehabilitation.

In order to achieve the object of the present invention, the track steering unit for adjusting the tilting and direction of the track unit for driving the vehicle body; An injector connected to an external waterjet device and spraying the ultra-high pressure water supplied from the waterjet device to an inner wall of the conduit through an injection nozzle of a front end portion rotating; According to the control data received from an external remote controller is provided a water supply line rehabilitation customs vehicle comprising a control unit for controlling the operation of the device.

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

In addition, the hinge joint further includes a spherical contact bearing, the injector comprises a water supply pipe connected to the external waterjet equipment, a housing for rotatably supporting the water supply pipe from the outside, and a drive unit for rotationally driving the water supply pipe; It is characterized by.

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

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

In addition, the vehicle body further includes a pump for pumping and a traction device for forcibly discharging the water in the section pipe to the outside, the traction device is characterized by consisting of a winch connected to the electromagnet to the wire rope.

In addition, the vehicle body is formed between the brush is rotated by a rotary motor between the pair of brushes, the collection port is collected by sending the waste to the collecting tank side through the duct with the suction force generated by the built-in vacuum suction motor It further comprises a device.

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

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

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

As shown in the present invention, the present invention is to perform the operation of removing the scale and the like fixed to the inner wall of the water pipe required for rehabilitation and receiving ultra-high pressure water from an external waterjet device. Change the normal zoom function and shooting direction so that the specific part of the pipeline can be concentrated and observed together with a plurality of surveillance cameras 11 with illumination to monitor the internal condition of the pipeline from the outside to the front and rear of 1). An observation camera 13 having a function is installed at a specific portion of the cover 12.

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

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

As shown in the present invention, the vehicle body 1 is configured to be driven by both track parts 2, and the vehicle body 1 is an injection device 4 for injecting ultra-high pressure water into the inner wall of the pipeline. ) Is mounted, the injector (4) is configured by the elevating driving unit (6) and the position adjusting means (7) to move up and down, left and right rotation and linear movement.

In addition, the plurality of injection nozzles 41 provided at the distal end of the injection device 4 are configured to inject ultra-high pressure water while rotating, and the high-pressure water in the injected section pipe is pumped to pump the vehicle body 1. The waste material such as the scale removed by the high-pressure water injection is configured to be collected by the collecting tank 83 on the rear side of the vehicle body 1 by means of (14).

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

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

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

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

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

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

As shown therein, the injector 4 of the present invention is provided with a water supply pipe 42 connected to an external waterjet device, and the water supply pipe 42 is formed such that a plurality of injection nozzles 41 communicate with the front end portion. , The injection nozzle 41 is formed in a plurality of directions perpendicular to the water supply pipe (42).

In addition, the water supply pipe 42 is rotatably supported inside the housing 43 by a bearing (B), and the water supply pipe 42 is driven outside of the driving motor M for the rotation of the injection nozzle 41. And a driven pulley 45 connected to the pulley 44 and the drive belt 46.

The present invention configured as described above is supplied with ultra-high pressure water from the external waterjet equipment through the water supply pipe 42 is injected through each injection nozzle 41, the injection nozzle 41 is the water supply pipe 42 is driven by the belt motor drive motor ( M) by rotating the power received from the rotation is to spray ultra-high pressure water while rotating together.

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

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

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

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

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

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

As shown in the present invention, the direction of the track portion 2 can be adjusted by the operation of the hydraulic cylinder 32, and the protruding length of the cylinder rod 32b of the rear hydraulic cylinder 32 is the front side. When the rod protrusion length of the hydraulic cylinder 32 is larger than that, the front width of both raceways can be narrowed to move forward, and the rod protrusion length of the front hydraulic cylinder 32 is larger than the rod protrusion length of the rear hydraulic cylinder 32. When it is increased, the rear width of both tracks can be narrowed and the vehicle can be driven. When the vehicle is narrowed in the traveling direction, the center of the vehicle body 1 can be held to prevent the vehicle body from overturning. Will be.

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

6 is a bottom view of the present invention.

As shown in the present invention, the present invention includes a collecting device 8 capable of collecting waste such as scales removed from a section conduit by ultra high pressure water, and the collecting device 8 is powered like a conventional cleaning vehicle. It consists of a brush 81, a collecting port 82, a vacuum suction motor 84, and a collecting tank 83 that rotates by.

The vacuum suction motor 84 is built in the collecting tank 83, and is connected to the collecting port 82 between the brushes 81, the suction force to the collecting port 82 by the operation of the vacuum suction motor 84. When this occurs, the waste inside the pipeline is collected in the tank by this suction force, and the brush 81 arranges the polishing brush 81a and the iron brush 81b together to guide the waste to the collecting port 82 side. Function and crushing function for waste.

And, it is natural that the waste inside the collecting tank 83 can be discharged to the outside of the section pipe through the discharge pipe.

7 is a side view of the present invention.

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

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

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

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

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

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

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

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

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

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

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

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

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

According to the present invention configured as described above, the ultra high pressure water supplied to the injection nozzle 41 is introduced into the nozzle body 90 through the pipe and sprayed to the outside, and the nozzle body 90 is connected to the pipe by the elastic force of the spring 93. With the spherical roller 92 in contact with the cloud along the inner wall of the expansion and contraction in accordance with the shape of the conduit will be able to always match the spray distance regardless of the change in the shape of the conduit.

12 is a schematic circuit diagram of the present invention.

As shown in the present invention, the present invention is configured to remotely control from the outside and to carry out washing and collecting work of section pipes by various devices, and external remote controllers as in a conventional remote control method ( The control unit 5 is provided with a control unit 5 for controlling the driving and operation of each device by receiving the control data transmitted from the 300, the control unit 5 is a receiving unit for receiving the control data of the remote controller 300 And a central processing unit (CPU) 52 for outputting a driving control signal to a driving unit 53 for driving each device in accordance with the control data transmitted from the receiving unit 51, and the driving unit 53. It is provided with a transmission unit 54 for transmitting the drive state data output from the central processing unit 52 to the remote controller 300 in accordance with the drive state.

As described above, the present invention is constructed by providing an unmanned customs vehicle for rehabilitation of water pipes that automatically performs related tasks such as environmental investigation inside the pipeline and removing scales fixed to the inner wall of the pipeline while traveling inside the pipeline by remote control. It has the effect of ensuring the speed of construction and the simplicity, efficiency and economic efficiency of construction.

Claims (14)

  1. delete
  2. A track unit 2 for driving the vehicle body 1 on which the camera is mounted;
    The track portion 2 is configured to be rotatably supported by the hinge joint 31 to the vehicle body 1, and the track portion 2 is the side of the vehicle body 1 around the hinge joint 31. The cylinder body 32a of the plurality of hydraulic cylinders 32 is rotatably connected to the lower side of the vehicle body 1 so as to be rotated in the direction, and the cylinder rod of the hydraulic cylinder 32 is connected to the raceway 2. 32b) is connected to the track steering unit 3 so as to adjust the tilting and driving direction of the track unit (2);
    Injector (4) horizontally installed to the front side of the vehicle body (1) is connected to the external waterjet equipment and injected to the inner wall of the conduit through the injection nozzle 41 of the tip portion for rotating the ultra-high pressure water supplied from the waterjet equipment Wow;
    The unmanned customs vehicle for rehabilitation of water pipes according to claim 1, wherein the control unit (5) is installed in the vehicle body (1) and controls the driving of the devices according to control data received from an external remote controller (300).
  3. The method of claim 2,
    The hinge joint (31) further comprises a spherical contact bearing (315) for water pipe rehabilitation unmanned customs vehicle.
  4. The method of claim 2,
    The injection device 4 is formed by a plurality of injection nozzles 41 in communication with the front end of the water supply pipe 42 connected to the external waterjet equipment, the water supply pipe 42 of the housing 43 by the bearing (B) It is rotatably supported inside, and the outer side of the water supply pipe 42 is formed with a driven pulley 45 connected to the driving pulley 44 and the drive belt 46 of the drive motor (M) is configured to rotate by belt transmission Unmanned customs vehicle for rehabilitation of water pipes, characterized in that.
  5. The method of claim 2,
    The injector (4) is an unmanned customs vehicle for rehabilitation of water pipes, characterized in that configured to be moved up and down by the elevating drive (6).
  6. The method of claim 5,
    The elevating driving part 6 includes a spiral shaft 61 formed at an upper side of the vehicle body 1 in a horizontal direction perpendicular to the injector, with one side and the other side formed in spirals opposite to each other;
    A pair of nuts 62 and 62a spirally coupled to the spiral shaft 61, respectively;
    A pair of link portions (63) (63a) rotatably fixed to one side of the nut (62) (62a), and the other end rotatably fixed to the injection device (4);
    The driven pulley 642 is installed in the middle of the spiral shaft 61, and the electric pulley 643 is installed in the driving motor M to drive the rotation of the spiral shaft 61 through the transmission belt 644 therebetween. Spiral shaft drive unit 64 to be made; water pipes for rehabilitation unmanned customs vehicle, characterized in that consisting of.
  7. The method of claim 5,
    The injector (4) by the position adjusting means (7) further comprises a left and right rotation of the predetermined angle and the linear pipe for rehabilitation unmanned customs vehicle further comprises.
  8. The method of claim 7, wherein
    The position adjusting means (7) and the rotary support 73 for rotatably supporting the main shaft (71a) of the base plate 71 provided in the lower portion of the elevating drive portion (6) to the central portion of the lower side support plate (72) ;
    A drive motor having an arcuate external gear 741 is formed on the outer support plate 72 of the rotary support 73, and the base plate 71 has a drive gear 742 engaged with the external gear 741. A rotation driving unit 74 in which (M) is vertically installed;
    The lower part of the support plate 72 is supported by the lateral rail 751, and the feed nut 753 formed at the lower part of the support plate 72 is coupled to the spirally-shaped feed shaft 752 by the driving motor M. Unmanned customs vehicle for rehabilitation of the constant pipe line, characterized in that consisting of; linear movement unit 75 to make the lateral linear movement of the support plate 72 by the rotation of the feed shaft (752).
  9. The method of claim 2,
    The vehicle body (1) is an unmanned customs vehicle for rehabilitation of water pipes, characterized in that it further comprises a pump for pumping water 14 for forcibly discharging the water inside the section pipe.
  10. The method of claim 2,
    The vehicle body (1) unmanned customs vehicle for rehabilitation of the water pipe, characterized in that it further comprises a towing device (15).
  11. The method of claim 10,
    The towing device 15 is a water supply pipe, characterized in that the winch 151 is installed on the vehicle body 1, the electromagnet 153 is provided on the end side of the wound wire rope 152 of the winch 151. Unmanned customs vehicles for rehabilitation.
  12. The method of claim 2,
    The vehicle body (1) is an unmanned customs vehicle for rehabilitation of water pipes, characterized in that it further comprises a collecting device (8) for collecting the waste removed from the pipeline by washing.
  13. The method of claim 12,
    The collecting device 8 forms a collecting port 82 between a pair of brushes 81 which are rotated by the vacuum suction motor 84, and the collecting port 82 is generated by a built-in vacuum motor. Unmanned customs vehicle for rehabilitation of water pipes, characterized in that configured to send the waste by suction force to the collecting tank (83) side through the duct.
  14. The method of claim 2,
    The injection device 4 is adjacent to the injection nozzle 41 with the outlet closed, slidably fixed to the injection nozzle 41 by the nozzle fixture 91, the spherical roller 92 is provided on the end side, An unmanned customs vehicle for water supply rehabilitation, characterized in that it further includes a movable injection nozzle (9), which is elastically supported outward by the spring (93) and has a stopper (94) formed at the end opposite to the outlet.
KR1020070031477A 2007-03-30 2007-03-30 Manless cleanning cars for revival water supply pipe KR100770976B1 (en)

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Cited By (9)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
KR101197112B1 (en) * 2012-05-31 2012-11-07 수자원기술 주식회사 Rust and Coating Removing System of Inside of Large size Pipe
KR101236341B1 (en) * 2012-06-05 2013-02-22 이기원 Vehicle for cleaning pipe
US8454753B2 (en) 2008-03-14 2013-06-04 Diversey, Inc. Cleaning bullet and method of operating the same
KR101440300B1 (en) * 2012-10-17 2014-09-17 수자원기술 주식회사 Rust and Coating Removing System of Inside of Large size Pipe
US8973738B2 (en) 2011-03-28 2015-03-10 Diversey, Inc. Cleaning device
KR101700905B1 (en) * 2015-10-22 2017-02-13 (주)강산이앤씨 Decrepit pipe line repair equipment
CN106834575A (en) * 2017-03-24 2017-06-13 山东莱钢建设有限公司 A kind of method and device for cleaning blast furnace gas pipeline
CN108326750A (en) * 2018-02-23 2018-07-27 晋芳芳 A kind of Water Cutting mechanical car
KR102020807B1 (en) * 2018-09-13 2019-09-11 수자원기술 주식회사 Time-Worn Drinking Water Pipe Cleaning and By-product Suction and Monitering System by Using Rehabilitation Robot and Method thereof

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US8454753B2 (en) 2008-03-14 2013-06-04 Diversey, Inc. Cleaning bullet and method of operating the same
US8732894B2 (en) 2008-03-14 2014-05-27 Diversey, Inc. Cleaning bullet and method of operating the same
US8973738B2 (en) 2011-03-28 2015-03-10 Diversey, Inc. Cleaning device
WO2013180527A1 (en) * 2012-05-31 2013-12-05 수자원기술주식회사 System for removing rust and coating from inside of pipe line using principle of induction
KR101197112B1 (en) * 2012-05-31 2012-11-07 수자원기술 주식회사 Rust and Coating Removing System of Inside of Large size Pipe
KR101236341B1 (en) * 2012-06-05 2013-02-22 이기원 Vehicle for cleaning pipe
KR101440300B1 (en) * 2012-10-17 2014-09-17 수자원기술 주식회사 Rust and Coating Removing System of Inside of Large size Pipe
KR101700905B1 (en) * 2015-10-22 2017-02-13 (주)강산이앤씨 Decrepit pipe line repair equipment
CN106834575A (en) * 2017-03-24 2017-06-13 山东莱钢建设有限公司 A kind of method and device for cleaning blast furnace gas pipeline
CN108326750A (en) * 2018-02-23 2018-07-27 晋芳芳 A kind of Water Cutting mechanical car
KR102020807B1 (en) * 2018-09-13 2019-09-11 수자원기술 주식회사 Time-Worn Drinking Water Pipe Cleaning and By-product Suction and Monitering System by Using Rehabilitation Robot and Method thereof

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