KR100807803B1 - Mobile car for washing scale on the inner surface of the superannuated atypical pipe - Google Patents

Abstract

A mobile car for washing a superannuated atypical pipe is provided to remove a scale layer deposited inside the pipe effectively by installing a high pressure fluid jetting unit, responding to the diameter variation of the pipe. A mobile car for washing a superannuated atypical pipe comprises a main body(4), a center maintaining unit, a moving unit(8), a high pressure fluid jetting unit(10), a rotating unit(12), a shock absorbing unit, and a camera(14). The main body supports a fluid transfer pipe to be inserted into segmentation pipes. The center maintaining unit maintains the center of the main body to be positioned at the center of the pipe by offsetting eccentric errors generated through the atypical pipe. The moving unit has one end fixed on each segmentation pipe of the main body with a predetermined angle and other end moving the main body to be contacted with the inside of the pipe. The high pressure fluid jetting unit removes a scale layer by jetting the high pressure fluid to the inside of the pipe to respond to the diameter variation of the atypical pipe. The rotating unit installed at one of the segmentation pipes rotates the high pressure fluid jetting unit. The shock absorbing unit positioned at the front end of the main body shock absorbs the high pressure fluid jetting unit. The camera mounted on the outer diameter of the main body has the circumstance data of the scale layer grown inside the pipe.

Description

Aged non-garden pipeline customs car {Mobile car for washing scale on the inner surface of the superannuated atypical pipe}

1 is a flow chart showing a series of processes of a general aged pipeline regeneration process.

Figure 2a is a state diagram for cleaning the inner surface when the centering device according to the prior art passes through the curved tube.

Figure 2b is a front sectional view showing a customs state according to the rotation of the centering device according to the prior art.

Figure 3 is a perspective view showing an embodiment configuration of the aging non-garden pipeline customs self-propelled vehicle according to the present invention.

Figure 4a is a front sectional view of Figure 3 showing the operation of the nozzle unit for removing the scale grown on the inner surface of the garden pipe.

Figure 4b is a front sectional view of Figure 3 showing the operation of the nozzle unit for removing the scale grown on the inner surface of the non-garden pipe.

Figure 5 is a perspective view showing the configuration of a second embodiment of the moving means that is the main part of the self-propelled vehicle for non-garden pipeline customs according to the present invention.

Figure 6 is a perspective view showing a state in which the self-driving car of the second embodiment shown in Figure 5 moves along the non-garden pipe surface while customs.

Figure 7 is another illustration of the high pressure fluid injector which is the main portion of the self-propelled vehicle for the aging non-garden pipeline customs according to the present invention.

Figure 8 is a schematic diagram showing the configuration of a turnbuckle installed in the end of the pipeline when using a traction device instead of a self-propelled vehicle according to the present invention.

* Explanation of symbols for main parts of the drawings

2: fluid transfer pipe 4: main body

6: center maintenance spring 8: vehicle

10: high pressure fluid injector 12: rotary device

14: camera device

The present invention relates to a self-propelled tubular apparatus for removing the scale attached to the inner surface of the aging pipeline, and more particularly, the center and the nozzle of the pipeline at the time of passage of the non-garden pipeline or curved pipe which is deformed by earth pressure and whose center radius is changed. It is about a non-garden pipeline customs self-propelled vehicle that can remove the solidified scale layer while using the self-propelled process inside the pipeline while maintaining the center of the coincides.

In general, cast iron pipes, which are mainly used in medium and large diameter water pipes for supplying tap water, oil pipes for transferring various fluids such as oil, gas pipes, and sewer pipes for transferring sewage (hereinafter, collectively referred to as 'pipe lines'). The aging causes corrosion as it is used for a long time, and forms a scale layer on the inner wall of the pipe.

As described above, the scale layer generated on the inner surface of the fluid line has a problem in that the fluid pressure is lowered by preventing the smooth flow of the fluid. In addition, the scale layer attached to the conduit dissolves in the fluid and contaminates the fluid, causing serious problems in maintaining the function of the conduit network as well as increasing the energy consumption. Should be cleaned.

If corrosion products are deepened on the inner surface of the pipe or if the pipe is likely to be damaged due to aging, improvement work (replacement or rehabilitation) of the old pipe is carried out.The old pipe rehabilitation method applied to the pipe improvement work includes customs ( Cleaning) and lining are representative.

A conventional method for regenerating an old pipeline will be briefly described with reference to FIG.

As shown in the figure, a first step (S1) for inspecting the inside of the pipeline; Cut and open after cutting with the length of the old pipe about 60 ~ 80m in one section, and repeatedly pull out the tubing device such as scraper, wire brush, high pressure spray cleaner, etc. several times with the power winch A second step (S2) of removing and draining out of the pipe; A third step (S3) of drying the inside of the tube by transferring air to a blower after removing water accumulated in the tube; A fourth step (S4) of performing lining by spraying an epoxy resin paint or polyurea while moving the injection head to the outside of the pipe when the surface inside the pipe is dried and then inserting the hose with the injection head into the pipe; And when the epoxy paint or polyurea is completely cured, the fifth step (S5) of cleaning the inside of the pipe, connecting the pipe incisions and passing through them, filling the soil according to the regulations, and completing the rehabilitation work.

In the pipe cleaning process during the retirement process of the old pipe line as described above, a customs device that is towed while rotating with no power by varying the angle of the high-pressure water jet nozzle has been proposed. With reference to FIGS. 2 and 3, FIG. Briefly described as follows.

As shown in Figure 2a, the customs device 102 is provided with a fluid conveying pipe of a predetermined length for transporting the high pressure fluid from the outside and the moving body 110 to move in the old pipeline 100; It is installed in front of the fluid transfer pipe of the mobile body 110 to eject the high pressure water spray nozzle 120 for removing the scale layer grown on the inner surface of the pipeline 100 and the traction device for towing the mobile body 110 (Not shown).

Customs device 102 using the non-powered rotation of the pipe diameter of the connection portion (for example, due to the relationship between the diameter of the pipe produced by the non-uniform size of the pipe work piece, the diameter of the connection portion generated when connecting a large or small pipe diameter The center of the injection nozzle 120 of the moving body 110 and the center of the pipeline 100 as shown in FIGS. 2A and 2B when passing through a curved pipe having a predetermined radius of curvature. Does not coincide with eccentricity error t. At this time, when the eccentric error interval between the nozzle tip and the pipe line 100 surface is different by t1> t2 in the drawing, the blow pressure of the high pressure water applied to the pipe face according to the different eccentric error between the pipe face and the nozzle tip is different from each other. As a result, the rotation of the nozzle is not smooth, and there is a problem in that the scale layer is removed from the conduit surface. The problem that the nozzle is not rotated smoothly may cause a breakage by acting as a support for supporting the moving wheels, and the mobile body 110 may be overturned, thus preventing customs work. Cause. In addition, when the eccentric error (t) is too large, the nozzle tip also hits the conduit surface occurs, this time the nozzle tip does not hit the conduit surface can not be rotated itself, the actual customs work There is another problem that cannot be solved.

In particular, since the customs device 102 using non-powered rotation moves in the conduit by a traction method, a facility such as a winch for towing the customs device is required separately, and the gap between the nozzle and the conduit surface by the traction force of the rope ( There is a problem in that the t) is inconsistent and the blow pressure on the conduit surface is inconsistent and the scale removal efficiency is lowered.

As another example, a conventional apparatus for removing fixed foreign matter in a hollow park cylinder of Korean Patent No. 654986 is disclosed. The patent is a device for moving the main body forward and backward by the drive motor, and by rotating and rotating the foreign matter removal member such as a chain and a solid foreign matter removal member such as a soft rope to the rotating body by hitting and removing the scale formed on the inner surface of the pipeline.

However, the above structure removes scale by hitting the inner surface of the pipeline with a chain or a rope, but the rust formed on the surface of the pipeline is removed well, while the removal of the scale is not perfect, which makes it difficult to form a smooth pipeline surface. There is a problem that the painting is not made properly after the subsequent work.

On the other hand, the fluid transfer lines buried underground form a malformed non-garden pipe by environment such as earth pressure. In the case of such non-garden pipe, the radial center does not coincide with the nozzle rotation center of the tubular device which is non-rotating. There is a problem that can not be applied to the customs of the non-garden pipeline because it is impossible to rotate.

Therefore, the present invention has been proposed to solve the above problems, by using the power of the motor to move the inside of the old pipeline in a self-propelled manner, and also to rotate the nozzle while hitting the surface of the pipeline, the earth pressure When passing through a non-garden pipe or a curved pipe having a predetermined radius of curvature, the center of the nozzle is buffered in response to the change in the pipe diameter of the pipe to coincide with the center of the pipe, thereby effectively removing scales grown on the surface of the pipe. Its purpose is to provide aging non-garden pipeline customs self-propelled vehicles.

In addition, the present invention has another object to provide an old non-garden pipeline customs self-propelled vehicle that can simplify the rehabilitation process and shorten the rehabilitation period by using the painting work together with the removal of scales grown on the surface of the pipeline. .

In order to achieve the above object, the present invention includes a main body having a plurality of segmented pipes, the main body for inserting and supporting a fluid transfer pipe for transporting a high pressure fluid from the outside into the segmented pipe; Center holding means for maintaining the center of the body to be located in the center of the conduit to offset the eccentric error that is installed between each segment pipe of the main body when passing through the curved or non-garden pipe; A moving means having one end fixed to each segment pipe of the main body at a predetermined angle and the other end contacting the inner surface of the main pipe to move the main body by rolling; A high pressure fluid injection means installed in the main body at a predetermined isometric angle and ejecting the high pressure fluid to the inner surface of the pipe while being buffered in response to the change in the diameter of the non-garden pipe to remove the scale layer; Rotating means is installed in any one of the segment pipe of the main body for forcibly rotating the high-pressure fluid injection means; Located at the front end of the body, the buffer means for buffering the high pressure fluid injection means; And a camera mounted on an outer circumferential surface of the main body and including a camera photographed to secure situation data of the scale layer grown on the inner surface of the main pipe.

Hereinafter, exemplary embodiments of the present invention will be described in detail with reference to the accompanying drawings of FIGS. 3 to 8.

The aging non-garden pipeline customs self-propelled vehicle according to the present invention is advanced back and forth by the power of the motor, in response to the pipe diameter change of the duct transformed into the non-garden by earth pressure, while the wheel is buffered, and the nozzle is buffered while the center of the pipeline By providing a uniform striking pressure of the high pressure fluid to the conduit surface in accordance with the state, and to effectively remove the scale layer grown on the conduit surface, it is also implemented to combine the painting work.

In the embodiment of the present invention, as shown in Figures 3 and 4, the first to third segment pipe (4a) for inserting and supporting the fluid transfer pipe (2) consisting of a flexible pipe for transporting the high pressure fluid from the outside The main body 4 provided with 4b and 4c is provided. Each of the first to third segment pipes 4a, 4b, and 4c of the main body 4 is formed at both ends. A center holding spring 6 is inserted into the stepped portion of each of the first to third segmented pipes 4a, 4b, and 4c to maintain the center of the main body 4 at the center of the conduit 100. The center holding spring 6 is variable by providing flexible bendability while canceling an eccentric error generated when the main body 4 passes through the pipe line 100 or the curved pipe having a predetermined curvature deformed into a non-garden by earth pressure. The curvature is constantly received to guide the center of the conduit 100 and the main body 4 to coincide.

The main body 4 can be bent up to 90 ° by the elastic force of the center holding spring 6 so that the main body 4 can pass through the 90 ° curved pipe without difficulty.

On the outer circumferential surface of each of the first to third segment pipes 4a, 4b and 4c of the main body 4, a moving means 8 for moving the main body 4 forward and backward along the conduit surface is provided.

The movement means 8 has one end fixed to each segment pipe 4a, 4b, 4c and the other end extending toward the conduit surface at a predetermined isometric angle, and the first bracket 22 formed so that the long hole 22a penetrates at the distal end side. )and; A first shock absorber 23 positioned inside the first bracket 22 to expand and contract; A support 24a which penetrates the long hole 22a and the first shock absorber 23 of the first bracket 22 is provided at one side, and supports to flow in a buffered manner corresponding to the diameter of the non-garden pipe 100. Foot 24; A wheel 26 installed at an end of the support foot 24 and rolling in contact with an inner surface of the conduit 100; And a wheel drive motor 28 installed at the support foot 24 to provide forward and reverse power thereto. In the present embodiment, the wheel drive motor 28 is installed only on the support feet 24 mounted on the first and third segment pipes 4a and 4c.

As a preferred embodiment of the present invention, the moving means 8 is positioned at an interval of 120 ° so as to stably move the pipeline 100 forward and backward.

According to the configuration of the moving means 8, when the moving means 8 passes through the non-garden section of the conduit 100, the support foot 24 is the long hole of the first bracket 22 according to the change of the radius It is buffered flow through the first buffer 23 in 22a). That is, in the portion where the radius of the conduit 100 is reduced, the wheel 26 contacting the conduit surface is pressed, so that the pressing pressure of the support foot 24 contracts the shock absorber 23, and the radius of the conduit 100 is increased. In the expanded portion, the first shock absorber 23 is extended and at the same time the support foot 24 is also extended so that the wheel 26 is in contact with the conduit surface.

In the present embodiment, the wheel 26 is in the form of a disc roller, but is not limited to this, it is well known that it can be made of a bearing ball type that can rotate 360 °.

A second embodiment of the vehicle 8 is shown in FIGS. 5 and 6.

FIG. 5 is a perspective view showing the configuration of a second embodiment of a moving device which is a main part of a self-propelled vehicle for non-garden pipeline customs according to the present invention, showing a state in which two nozzle tubes are operated, and FIG. 6 is shown in FIG. A perspective view showing a state in which a self-driving car of the second embodiment is customs while moving along a non-garden pipe surface, and shows a state in which three nozzle pipes are operated.

As shown in the figure is mainly applied when moving on the surface of the straight line 100, the support foot 24 may be formed in an X-shaped structure to reduce the number of installation of the support foot.

The moving means (8) in the second embodiment includes first and second clamps (62, 64) fitted to the outer surface of the main body (4) at predetermined intervals; One end is connected to each of the first and second clamps 62 and 64, the other end of which crosses the X letter, and the intersection point is fixed by a hinge, and a support foot 66 extending radially at intervals of 120 °; Between the first and second segment pipes 4a and 4b of the main body and between the second and third segment pipes 4b and 4c, respectively, the external force is applied to the support feet 66 to expand and contract around the intersection point. When the first and second clamps 62 and 64 push the outer surface of the main body, the expansion spring 68 provides an in-situ restoring force; A spacing holder 70 for maintaining the X-shape of the support foot 66; A wheel 72 installed at an end of the spacing holder 70 and rolling forward and backward while contacting the inner surface of the pipeline 100; And wheel driving motors 74 installed at both ends of the gap holder 70 to provide rotational force to the wheels.

As shown in FIG. 6, the moving means 8 of the second embodiment configured as described above is moved along the surface of the conduit 100 by the wheel driving motor 74 to enter the deformed section. At this time, the support foot 66 is stretched in the direction of the arrow due to the radius change, and this stretching force is absorbed by the expansion spring 68 to buffer and stretch the first and second clamps 62 and 64, thereby providing a conduit. Even if the change of the center of the main body 4 is to be able to move smoothly in the autonomous vehicle in the state coincided with the center of the pipeline (100).

A high pressure fluid injector for ejecting the high pressure fluid to the inner surface of the pipe line 100 while buffering the tip portion of the third segment pipe 4c of the main body 4 to correspond to the diameter of the non-garden pipe 100 to remove the scale layer. 10 is installed.

The high pressure fluid injector 10 is installed at the front end of the main body 4 in a stepped form in three stages, and has a circular fluid distribution plate 32 for distributing the high pressure fluid in several ways; A plurality of nozzle tubes (34) positioned at a predetermined angle from the circumferential surface of the fluid distribution plate (32) and extending toward the conduit surface, for ejecting the high pressure fluid to the conduit surface to remove the scale layer by the impact pressure; A support bar (36) installed radially from the circumferential surface of the fluid distribution plate (32) and positioned in parallel with the nozzle tube (34) to support it; A band clamp (38) for coupling the nozzle pipe (34) and the support bar (36); A joint link (40) installed on the circumferential surface of the fluid distribution plate (32) for rotatably fixing the support bar (36); A plurality of second shock absorbers which extend toward a center of the conduit 100 at a predetermined position of the support bar 36 and have a buffer spring 43 on an outer surface thereof to cushion the corresponding diameter of the non-garden conduit 100; (42); A buffer support ring (44) for supporting the plurality of second buffers (42) through a circumferential surface and for causing the plurality of second buffers (42) to be buffered toward the center of the conduit; And one end is fixed to the end of the support bar 36, the other end includes a bearing ball 46 in contact with the conduit surface rolled 360 °.

The plurality of nozzle pipes 34 are eccentrically positioned up and down or left and right with respect to the center of the circumferential surface of the fluid distribution plate 32 so as to receive the force to rotate by the ejection pressure. It may be. When such a structure is adopted, the load of the nozzle rotating motor to be described later can be reduced.

A rotating device 12 for forcibly rotating the fluid distribution plate 32 is mounted between the third segment pipe 4c of the main body 4 and the fluid distribution plate 32 of the high pressure fluid injection means 10. do.

The rotary device 12 and the support box 50 is fixed to the third segment pipe (4c); First and second nozzle rotation motors 52 and 53 installed on upper and lower surfaces of the support box 50; It is composed of a power transmission means for transmitting the rotational force of the first and second nozzle rotary motors (52, 53) to the fluid distribution plate (32). In this embodiment, the power transmission means is shown an example consisting of a gear train, the first and second nozzle rotary motors (52, 53) of each shaft is fitted with a motive gear (54a), the support box 50 A driven gear 54b is fitted therein, and the fluid distribution plate 32 and the driven gear 54b are connected to rotate the fluid distribution plate 32. The driven gear 54b is made of an idle gear and meshes with the two motive gears 54a. According to the above structure, it is possible to smoothly rotate the plurality of nozzle tubes 34 which are eccentric even with a small power and to disperse the rotational force. In addition, in this structure, the motor shaft can be prevented from bending, and has another effect of maintaining the balance according to the rotation of the nozzle tube 34.

In the present invention, the nozzle tube 34, but three combinations are provided at intervals of 120 °, but not limited to this, it can be configured as two or four combinations as shown in FIG. It is a well known fact.

7 shows an example in which four nozzle tubes 34 are installed on the fluid distribution plate 32.

The second segment pipe 4b of the main body 4 is provided with a camera device 14 for capturing the situation of the scale layer grown on the inner surface of the conduit 100 and displaying it on the monitor of the operator.

In the embodiment of the present invention, after the tubing of the pipeline 100, the fluid supplied to the fluid transfer pipe (2) is to provide a coating rather than water can be used for both painting work.

On the other hand, in the case of using a traction device instead of the self-propelled vehicle according to the present invention, it is possible to install a turnbuckle 80 which is installed at the end of the pipeline as shown in FIG. In this case, when the rope 82 is pulled out to the center of the turnbuckle 80, the center of the nozzle 34 and the conduit 100 may be towed to the same state. Reference numeral 84 denotes support rubber.

Referring to the working state of the present invention configured as described above are as follows.

First, after inspecting the inside of the pipeline 100 before performing the customs process, the scale grown on the inner surface of the pipeline using the customs robot of the present invention is removed.

When the high pressure fluid provided to the fluid transfer pipe 2 is sand, sand is supplied from a sanding kit installed outside the pipe line 100, and in the case of high pressure water, the sand is supplied from a waterjet pump. In the present invention, an example using high pressure water will be described.

Then, when the main body 4 is inserted into the conduit 100 and the wheel driving motor 28 is driven, the wheels 26 that are in contact with the inner surface of the conduit 100 gradually move forward, and the main body ( The front of the pipeline 100 is irradiated by the camera device 14 installed in the second segment tube 4b of 4).

In the process of moving the wheel 26 along the conduit surface, when the wheel 26 passes through a section deformed into a non-garden due to earth pressure, the wheel 26 contacts the portion where the diameter is reduced and the portion where the wheel 26 is enlarged. Done. That is, the wheel 26 in contact with the reduced portion of the diameter is pressed while the support foot 24 pushes the first shock absorber 23, and the wheel 26 positioned at the enlarged diameter portion is the first shock absorber 23. As the support foot 24 is pushed by the elongation of, it comes into contact with the conduit surface. As such, when passing through the non-garden pipeline section, the wheel 26 is buffered as much as the eccentricity error caused by the expansion and contraction of the diameter, so that the smooth forward.

When the high pressure water is supplied through the fluid transfer pipe 2, the high pressure water is branched into three branches through the fluid distribution plate 32 of the fluid transfer pipe 2 and supplied to each nozzle pipe 34. Each of the nozzle pipes 34 ejects high pressure water toward the pipe surface and strikes and removes the scale grown on the pipe surface by the jet pressure.

When the high pressure water is ejected, the nozzle rotation motor 52 is driven, and the rotational force is transmitted from the motive gear 54a, which is the power transmission means 54, to the driven gear 54b so that the fluid distribution plate 32 rotates. do.

When passing through the curved pipe section or through the pipe section deformed into a non-garden, the bearing ball 46 is pressed in the portion where the diameter of the tube is reduced, and the pressed force is transmitted to the support bar 36 to transmit the joint link 40. Rotate around. When the support bar 36 is pressed down and contracted, the second shock absorber 42 is introduced into the shock absorber support ring 44 by the reduced interval. On the contrary, in the portion where the diameter of the tube is enlarged, the bearing ball 46 comes into contact with the conduit surface by pushing the support bar 36 while the second shock absorber 42 is extended by the expansion of the shock absorbing spring 43. Even if the conduit 100 is deformed into a non-garden by such an operation and an eccentric error occurs, the distance t between the tip of the nozzle tube 34 and the conduit surface is always kept constant. In addition, the center of the conduit 100 and the center of the main body 4 is matched by the center holding spring 6 to provide a uniform striking pressure of the high-pressure water to the conduit surface, the uniform striking pressure is the scale layer By uniformly removing the smooth tubular surface is to be obtained.

When the customs work is completed, by injecting paint instead of high-pressure water into the fluid transfer pipe (2), it is possible to smoothly perform the painting work without a separate sprayer by ejecting through the nozzle tube (34).

The present invention described above is not limited to the above-described embodiment and the accompanying drawings, and various substitutions, modifications, and changes are possible within the scope without departing from the technical spirit of the present invention. It will be evident to those who have knowledge of.

As described above, according to the present invention, by connecting each segment pipe of the main body to the center holding spring to offset the eccentric error generated when passing through the curved pipe so that the center of the nozzle is always coincident with the center of the pipe line, and the non-garden The eccentricity of the reduced diameter and enlarged portion of the deformed pipeline is offset by the buffering action of the wheel and the buffering action of the nozzle tube, so that the tip gap between the pipe surface and the nozzle tube can be kept constant at all times, eliminating uniform scale. Has the possible effect.

In addition, the present invention by injecting the paint into the fluid transfer pipe instead of the high-pressure fluid after the completion of the tubing and ejecting through the nozzle, there is no need to replace the coating machine can be used for the coating of the tubular pipe can be combined, thereby aging There are other effects that can simplify the rehabilitation process of the pipeline and can drastically reduce rehabilitation time.

Claims (8)

A main body having a plurality of segmented pipes, for inserting and supporting a fluid transfer pipe for transporting the high pressure fluid from the outside into the segmented pipe; Center holding means for maintaining the center of the body to be located in the center of the conduit to offset the eccentric error is generated between each segment pipe of the main body when passing through the non-garden pipe; A moving means having one end fixed to each segment pipe of the main body at a predetermined angle and the other end contacting the inner surface of the main pipe to move the main body by rolling; A high pressure fluid injection means installed in the main body at a predetermined isometric angle and ejecting the high pressure fluid to the inner surface of the pipe while being buffered in response to the change in the diameter of the non-garden pipe to remove the scale layer; Rotating means is installed in any one of the segment pipe of the main body for forcibly rotating the high-pressure fluid injection means; Located at the front end of the body, the buffer means for buffering the high pressure fluid injection means; And The camera is mounted on the outer circumferential surface of the main body and photographed to secure the situation data of the scale layer grown on the inner surface of the pipeline. Old non-garden pipeline customs self-contained vehicle, including. The method of claim 1, The means of transportation A first bracket having one end fixed to each segment pipe and the other end extending toward the conduit surface at a predetermined isometric angle, and having a long hole penetrating through the side surface of the first bracket; A first shock absorber positioned inside the first bracket to expand and contract; A support foot provided on one side with a protrusion penetrating the long hole of the first bracket and the first shock absorber, the support foot being buffered to flow corresponding to the diameter of the non-garden pipe; A wheel installed at an end of the support foot and rolling on the inner surface of the support foot; And Wheel drive motor that is installed on the support foot to provide forward and reverse power thereto Derelict non-garden pipeline customs self-propelled vehicle comprising a. The method of claim 1, The means of transportation First and second clamps fitted to the outer surface of the main body at predetermined intervals; One end is connected to each of the first and second clamps, the other end of which crosses the X letter, and an intersection thereof is fixed by a hinge and extends radially at predetermined intervals; A spacing holder for maintaining the X shape of the support foot; A wheel which is installed at an end of the gap holder and moves forward and backward while contacting the inner surface of the pipe; And It is installed at both ends of the gap retainer includes a wheel drive motor for providing rotational force to the wheel, The center holding means is The first and second clamps are inserted between the first and second segment pipes of the main body and between the second and third segment pipes, respectively. The old non-garden pipeline customs self-propelled vehicle, characterized in that it consists of a telescopic spring that provides in-situ resilience when pushed from the outside. The method according to any one of claims 1 to 3, The high pressure fluid injection means Is installed at the front end of the body, the fluid distribution plate for distributing the high pressure fluid in several ways; A plurality of nozzle tubes positioned at a predetermined isometric angle from the circumferential surface of the fluid distribution plate and extending toward the conduit surface, for ejecting the high pressure fluid to the conduit surface to remove the scale layer by the impact pressure; A support bar radially installed at a circumferential surface of the fluid distribution plate and positioned in parallel with the nozzle tube to support it; Band clamp for coupling the nozzle tube and the support bar; A joint link installed at a circumferential surface of the fluid distribution plate to rotatably fix the support bar; A plurality of second shock absorbers extending toward a center of the conduit at a predetermined position of the support bar and having a buffer spring on an outer surface thereof to buffer corresponding to the diameter of the non-garden conduit; A buffer support ring configured to support the plurality of second buffers through a circumferential surface thereof and to guide the plurality of second buffers toward the center of the conduit; And One end is fixed to the end of the support bar, the other end in contact with the pipe surface rolling ball 360 ° Old non-garden pipeline customs self-contained vehicle, including. The method according to any one of claims 1 to 3,  The rotating means A nozzle rotating motor installed at the segment pipe of the main body; Power transmission means for transmitting the rotational power of the nozzle rotation motor to the nozzle support plate Old non-garden pipeline customs self-contained vehicle, including. The method of claim 1, Self-propelled vehicle for the old non-garden pipeline customs, the center holding means is made of a spring. The method of claim 3, wherein The plurality of nozzle tubes are eccentrically positioned up and down or left and right with respect to the center of the fluid distribution plate by a predetermined interval (t) so that the force to be rotated by the ejection pressure can be applied to the old non-garden pipe customs Dragon car. The method according to any one of claims 1 to 3, The rotating means First and second nozzle rotation motors installed at predetermined intervals in the segment pipe of the main body; Power transmission means for transmitting the rotational power of the nozzle rotation motor to the fluid distribution plate Including, The power transmission means is a self-propelled vehicle for the aged non-garden pipeline custom, characterized in that for transmitting the rotational force of the motive gear installed in each of the first and second nozzle rotary motor to the fluid distribution plate through the center idle gear.

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