KR101935138B1 - Local trench repairing method using robot - Google Patents

Abstract

The present invention relates to a method for removing a sewer pipeline from an obstacle caused by flaws or sediments in any part of the sewer, and performing a work by inputting the robot without excavating the ground when the partial repair is performed do.
The operation step of the present invention includes an obstacle removing step of arranging an obstacle caused by a damaged part in a sewer pipe, accumulated sediment and the like; When the obstacle removal is completed, the wall of the sewer is covered with mortar to perform partial repair.
In the obstacle removing step, a robot having working means equipped with an obstacle removing device is introduced into a duct of a sewerage; Selecting a site to be subjected to the partial maintenance work by grasping the state of the obstacle by using the camera of the entered robot; Removing the obstacles stacked on the inner wall of the sewer pipe by using the obstacle removing device; Including,
Analyzing the image transmitted to the camera after the obstacle removing step is completed and setting a partial remedy plan in the partial remedial step; A step of bringing the robot having the working means equipped with the partial repair device into the duct of the sewerage; Searching for a region where the obstacle has been removed using the camera of the entered robot; Performing a partial repair by applying mortar to the inner wall of the sewage pipe by using the working means; .

Description

{LOCAL TRENCH REPAIRING METHOD USING ROBOT}

The present invention relates to a sewage unreachable part repairing method performed by a non-excavating method through a robot. More particularly, the present invention relates to performing maintenance by inserting a robot without excavating the ground when an obstacle such as a sewer or the like is protruded due to a defect or obstacles generated by accumulation of obstacles are removed.

Sewer pipelines are damaged by overloading due to uneven subsidence of floors, floods, internal and external shocks, and obstacles caused by sediments for a long time, and their functions are also damaged. Especially, due to earth pressure, Damage of the upper part of the upper part frequently occurs.

Damage to the sewerage causes damages such as deterioration of the water flow capacity due to reduction of the cross section of the water passage and generation of the enemy water. If the damaged portion of the sewerage is to be removed or the deformed portion is to be restored, it is practically impossible to repair the damaged portion of the sewerage because the top or surrounding soil of the sewerage is collapsed and buried.

Therefore, in order to repair the sewer, an excavation replacement method has been performed in which the entire road is excavated, the road is dismantled, a new sewer of the same type is buried, and the road is repackaged. However, as industrial size increases and traffic volume increases, problems such as construction costs, social loss costs, safety accidents, and environmental problems arise in excavation works.

Regarding the present invention, there have been proposed, in the past, registered patent No. 1325224 (Oct. 29, 2013) and registered patent No. 706616 (Apr.

In the present invention, a robot equipped with a working means is inserted into a sewer without digging the ground to remove obstacles in the sewer, and repair work where defects are easily performed. Through this, we intend to provide a partial repair method that enhances the structural function while restoring the sewer water carrying capacity, and enhances the workability, stability and economy.

The sewage unloading robot part repairing method of the present invention includes an obstacle removing step and a partial repairing step,

The step of removing the obstacle may include the steps of advancing a robot (100) having a working means (200) equipped with an obstacle removing device into a duct of a sewerage (10); A step of selecting a work site by grasping the state of the obstacle a3 by using the camera of the entered robot; Removing the obstacles stacked on the inner wall of the sewerage using the obstacle removing device; Including,

In the partial repair step, after the obstacle removal step is completed, a step of analyzing the image transmitted to the camera and setting up a partial repair plan; A step of bringing the robot having the working means equipped with the partial repair device into the duct of the sewerage; Searching for a region where the obstacle has been removed by using the camera of the entered robot; Applying the mortar (b1) to the inner wall of the sewage pipe by using the working means to perform partial repair; .

According to the present invention, a robot having a working means is inserted into a sewer pipe without digging the ground to easily perform an obstacle removing operation and a defective portion repair work in a sewer pipe, thereby enhancing the structural function , And a sewage unreachable robot part repair method is provided which improves workability, stability, and economy.

1 is a state diagram showing a work process.
Fig. 2 is a sectional view of the sewage pipe before the obstacle removing operation. Fig.
Fig. 3 is a perspective view of a robot which is put into an obstacle removing operation.
4 is a perspective view and an exploded view showing the working means of the robot in an obstacle removing operation mode.
Fig. 5 is a side view of the working means, in which Fig. 5A shows a portion excluded, and Fig. 5B shows the whole.
Fig. 6 is a state diagram of the working means, Fig. 6A illustrating a state before operation; Fig. FIG. 6B illustrates a state during operation or after operation.
7 is a perspective view and an exploded view showing the working means of the robot in the partial maintenance mode.
Fig. 8 shows an example of a working state. Fig. 8A shows a state in which mortar is substantially applied, and Fig. 8B shows a state in which a part of repair is performed by performing a plastering operation with the working means.

Hereinafter, embodiments related to the present invention will be described in detail with reference to the accompanying drawings.

The operation steps of the present invention include: an obstacle removing step of arranging (crushing) obstacles generated due to damaged parts in the sewage pipe, accumulated sediments, etc.; When the obstacle removal is completed, the wall of the sewer is covered with mortar to perform partial repair. 1 to 3, in more detail,

In the obstacle removing step, the robot 100 having the working means 200 equipped with the obstacle removing device 201 is introduced into the duct of the sewerage 10; Selecting a site to be subjected to the partial maintenance work by grasping the state of the obstacle a3 using the camera 120 of the entered robot; Removing the obstacle (a3) stacked on the inner wall of the sewer pipe (10) by using the obstacle removing device (201); Including,

Analyzing the image transmitted to the camera (120) after the obstacle removing step is completed in the partial maintenance step, and setting up a partial maintenance plan; Moving a robot (100) having a work means (202) equipped with a partial repair device (202) into a duct of a sewerage (10); Using the camera 120 of the entered robot to search for a region where the obstacle has been removed; Performing a partial repair of applying mortar to the inner wall of the sewer pipe (10) using the working means (202); .

3, the robot 100 has a size capable of moving inside a sewer pipe 10, and a pair of driving wheels 110 are provided on both sides so as to be movable. When the user operates the sewer pipe 10, A main body of a robot equipped with a camera (120) which is coupled such that a photographing direction is directed toward an entering direction so as to view a working situation inside the sewage (10) from the outside; A working means (200) coupled to the front end of the robot (100) in the entering direction to remove or partially repair an obstacle in the sewerage (10); A control line portion 101 mounted outside the sewage line 10 to the vehicle c1 so as to be able to input signals for controlling the operation of the respective portions; .

3, 4 and 7, the work means 200 includes a motor 210 coupled to the robot 100 such that the rotation axis thereof is directed toward the entering direction of the robot 100, A rotation plate 220 coupled to one side of the center portion of the motor 210 so as to be rotatable about the rotation axis of the motor 210 and a rotatable plate 220 coupled to the motor 210, A cutter blade 240 coupled along an opposite edge of a portion to which the support bar 230 is coupled and a cutter blade 250 coupled to one end a of the support bar 230. [ ). A rotation shaft coupling hole 226 is formed on the rear surface of the rotation plate 220 to connect the rotation shaft of the motor 210.

The rotation plate 220 includes a ring-shaped outer ring 222 and a rim 224 coupled radially with respect to the center. The rotation plate 220 includes a support 230 fixed to the support plate 230. The support 230 includes a cutter blade 240 for performing an obstacle removing operation and an unfinished plate 250 for performing a repair operation of the mortar portion . The work means 200 can be switched to the obstacle removal operation mode of FIG. 4 and the partial repair work mode of FIG. 7 according to the progress of the work and the necessity.

The supporting member 230 is coupled to the rotary plate 220 so that the cutter blade 240 or the underside plate 250 is worn out due to an increase in the number of times of use, ) It is possible to replace only the support stand 230 without the need to replace the entire working means 200, such as excavation, boring and part repairing equipment, thereby lowering the cost. That is, the working means 200 has a structure in which the rim 224 and the support table 230 can be fastened through the coupling bracket 260 so that quick and convenient detachable replacement is possible, The support force can be secured.

In addition, the cutter blade 240 and the unfinished plate 250 are both provided on one support 230 so that they can be used by switching them as needed. The cutter blade 240 and the unfinished plate 250 are not separately prepared, so that the cost is reduced and the maintenance is easy, and the operation support can be effectively and conveniently prepared.

The mating bracket 260 may be formed directly on the rim 224, or may be fabricated separately and attached to the rim 224 to provide a body. The engaging bracket 260 has a U-shape in which its cross-section is surrounded by a bottom wall and both supporting walls. The bottom wall or the bracket bottom wall 262 is in contact with the bottom surface of the supporting table 230 by closely contacting the bottom surface 233 of the supporting table 230, do. The inner walls of the bracket sidewall 260a are formed on both sides of the support base 230 so as to closely correspond to the support base side walls 230a. The bracket bottom wall 262 supports and supports the bottom surface 233 of the bracket so that the bracket side wall 260a is positioned on the side surface 230a of the bracket 260. [ The lower part is supported and seated.

And a fastening and holding means for holding the fastened state when the support bracket 230 is inserted into the fastening bracket 260 and fastened. The fastening and maintaining means includes a guide rail 261 formed on each inner side surface of both bracket side walls 260a of the coupling bracket 260 so as to protrude along the length of the coupling bracket 260, The side surface 230a is provided with a guide groove 231 formed in a straight line along the length of the support table 230.

Referring to FIG. 4 again, a method of connecting the supporter 230 to the bracket will be described. The guide rails 261 are inserted into the guide grooves 231 in the longitudinal direction thereof, So that the fastening can be achieved simply and quickly.

That is, when the support bracket 260 is pulled in from one end in the longitudinal direction of the bracket 260, the guide bracket 260 is fixed to the guide bracket 260 at one end a of the support bracket 230, The guide grooves 231 of the guide bracket 231 are pulled together and then the support table 230 is pushed toward the other end of the bracket and slidingly moved. When combined in this manner, the left and right bracket side walls 260a, as well as the bottom bracket bottom wall 262, support the support bracket 230 tightly and strongly so as to vibrate for a long time. Exposure to impact minimizes clearance without loosening.

After the support bar 230 is inserted into the engagement bracket 260, a locking device 270 is added to prevent the support bar 230 from sliding out along the longitudinal direction of the engagement bracket 260 again. The locking device 270 is provided at one end (one end or the other end) of the coupling bracket 260 to fix either end (one end or the other end) of the support stand 230. 4, a locking device 270 is provided at an end (one end) of the coupling bracket 260 located at the center of the rotation plate 220, that is, at the side of the coupling hole 226.

The locking device 270 includes a bracket fixing part 271 formed on one side and a support fixing part 272 formed on the other side. 4 and 5, the bracket fixing portion 271 of the locking device is hinged to one end of the coupling bracket 260, and one end of the support bracket 230 is positioned near one end of the coupling bracket 260 And is fixed to one end of the supporter 230 by a hinge connection when the supporter 230 reaches and is positioned.

4 and 7, a bracket-locking device fixing groove 263 having a hole is formed at one end of the coupling bracket 260, and a support-locking device fixing groove 232 Is formed. In the embodiment, the locking device 270 takes the form of a C-clip, but it can be replaced with another form, for example, a date, without taking the C-shape. The bracket fixing portion 271 and the supporting and securing portion 272 of the locking device are each provided with fixing protrusions in the form of bolts.

The fixing protrusion of the bracket fixing portion 271 is fitted and fixed to the bracket-locking device fixing groove 263 and the fixing protrusion of the supporting securing portion 272 is fixed to the supporting- As shown in Fig. In the example shown in FIG. 4, the support member is fixed to a support-fixing device fixing groove 232a formed at one end (a) of the support. In the example of FIG. 7, As shown in Fig. 7B, when a plurality of the support-fixing device fixing grooves 230 are formed, a position to be initially fixed is selected so that the degree of insertion of the support bar 230 into the coupling bracket 260 is varied So as to adapt to the diameter of the sewer as much as possible.

A more advanced configuration of work means 200 applied to the present invention will now be described.

5, it can be seen that the bracket bottom wall 262 is formed as an inclined surface having a predetermined slope a1 in FIG. 5A. The bracket side wall 260a is also inclined along the inclination a1 so that the entire engagement bracket 260 is inclined with inclination.

5B, the support bracket 230, which is inserted into and fixed to the bracket bracket 260, is also tilted to the left or right with the inclination. More specifically, the inclination a1 is inclined toward the rotation direction a2 of the working means 200. [ That is, it is configured to be inclined toward the obstacle a3 to be obstructed in the obstacle removing operation mode.

The support base bottom 233 of the support frame 230 from a position where the cutter blade 240 of the support frame 230 rotates and collides with the obstacle a3 in the obstacle removal operation mode, , Resulting in an offset and a result located on the back side. Since the support base bottom surface 233 is located at the rear side in the rotation direction, the impact load generated at the time of collision with the obstacle a3 is distributed only to the bracket bottom wall 262, . Therefore, it is possible to cope with the obstacle a3 more strongly, and the burden of supporting the bracket side wall 260a is reduced, thereby enhancing the durability and reducing the vibration of the robot 100 accordingly.

In FIG. 6, it can be seen that the locking device 270 can be provided as a member having an elastic force. In this case, in addition to the C clip type having an elastic force, it can be replaced with a coil spring.

6 (A), when the load is not applied, a centrifugal force acts on the rotation of the working means 200 The support base 230 is moved from the rotation center toward the outside as shown in FIG. 6B along the guide rail 261 / guide groove 231 on the rim 224 configured radially to the outer ring 222, So as to give the effect of the radius expansion a6 that the radius of the working means 200 becomes larger.

Even if the sewage 10 is slightly larger or smaller than the diameter of the working means 200, it is possible to cope with the elasticity of the sewage 10 by the radial expansion a6 of the working means 200. Also, the cutter blade 240 of the support bar 230 is more closely adhered to the obstacle a3 by the centrifugal force and presses the strong load, thereby helping to efficiently remove the obstacle a3. At this time, the degree of strength of the elastic member of the pushing device 270 can be selected in advance, and the degree of the extension (a6) by the sliding movement by the centrifugal force can be set.

When the rotation of the working means 200 is stopped, the supporter 230 is returned to its original position through the elastic restoring force of the urging device 270 provided as an elastic member, The robot 100 can be easily moved forward or backward along the inside of the sewerage 10 without being caught by the obstacle.

The obstacle removing operation mode of FIG. 4 is for removing the obstacle a3 of FIG. 2, which occurs in the sewerage, as shown in FIG. 5B, and includes an obstacle removing device 201 in the working means 200. FIG. The obstacle removing device (201)

The obstacle removed by the cutter blade 240 can be easily drawn out to the rear of the robot 100 through the space between the rim 224 and the rim and the support 2e30 to be provided in the rim can be formed into a triangular shape And the support base 20 is detachably attached to the rim 224 and the coupling bracket 260. The supporting bracket 20 is disposed at a position closer to the center of the outer ring 222 than the outer ring 222, Lt; / RTI > Therefore, since the overall shape of the working means 200 assumes a conical shape in which the central portion protrudes toward the traveling direction, it is possible to more easily remove the obstacle.

The partial maintenance mode of FIG. 7 includes first performing the operation of applying mortar b1 to the required site in the sewer pipe, as in the example of FIG. 8A, using a mortar sprinkler. The apparatus for spraying the mortar may be included in the robot 100 using a commonly used apparatus. In the partial maintenance mode, the operation is performed by switching the obstacle remover 201 to the partial repair device 202,

First, the supporter 230 is pulled out of the coupling bracket 260, separated and then rotated in the opposite direction, thereby coupling the supporter 230 to the coupling bracket again. The other end b of the support bracket 230 is inserted into the other end of the bracket 260 from the other end b of the support bracket 260, And is then locked by the locking device 270. [0031] As shown in FIG.

7, the supporter 230 is located on the outer side of the outer ring 222 and the lower portion of the triangle is positioned on the center side of the outer ring 222. As a result, And the unfinished plate 250 is disposed outside the outer ring 222.

When the outer ring 222 is rotated, the unfinished board 250 mounted in this way rotates together with the mortar b1 closely attached to the mortar b1 substantially coated on the sewerage 10, A fine coating operation is performed by a method of pressing with a centrifugal force. In this process, under the action of the pressing force of the unfinished plate 250, as shown in FIG. 8A, cracks 11 are generated in the sewerage 10, so that the mortar b1 is pierced The process of getting in and filling in is also done.

At this time, the unfinished board 250 applies an appropriate pressing force to the mortar b1 according to the tension relationship between the centrifugal force and the urging device elasticity by the elastic sliding operation method as shown in Fig.

A robot 100;
Working means (200);
Partial maintenance device 202,
The support (230)
The cutter blade (240)
In the unfinished board 250,
The coupling bracket (260)

Claims (1)

In a sewer unreachable part repair method using a robot,
An obstacle removing step and a partial maintenance step,
The step of removing the obstacle may include the steps of advancing a robot (100) having a working means (200) equipped with an obstacle removing device into a duct of a sewerage (10); A step of selecting a work site by grasping the state of the obstacle a3 by using the camera of the entered robot; Removing the obstacles stacked on the inner wall of the sewerage using the obstacle removing device; Including,
In the partial repair step, after the obstacle removal step is completed, a step of analyzing the image transmitted to the camera and setting up a partial repair plan; A step of bringing the robot having the working means equipped with the partial repair device into the duct of the sewerage; Searching for a region where the obstacle has been removed by using the camera of the entered robot; Applying mortar to the inner wall of the sewage pipe by using the working means to perform partial repair; , ≪ / RTI >
In the obstacle removing step,
The robot is coupled to a rotating plate including an outer ring 222 and a radial rim 224,
A bracket 260 having a U-shaped cross-section enclosed by a bracket bottom wall 262 and a bracket side wall 260a is formed on the rim 224,
The support bracket 260 is detachably fastened to the support bracket 230,
The bottom surface 233 of the supporter 230 of the supporter 230 is formed to correspond to the bracket bottom wall 262 and the supporter side 230a of the supporter 230 is formed to correspond to the bracket side wall 260a, And,
The cutter blade 240 is coupled to the edge of the support table 230,
A bracket fixing portion 271 is provided on one side of the elastic member and a supporting and securing portion 272 is provided on the other side to form a locking device 270,
A method of hinging the bracket fixing portion 271 to one end of the coupling bracket 260 and hinging one end a of the support base 230 to the support securing portion 272,
The obstacle removing device 201 may be provided in the working unit 200,
In the partial repair step,
After the mortar is roughly applied to the sewer,
The other end b of the supporter 230 is inserted into the other end of the coupling bracket 260 and then the other end b of the supporter 230 is positioned near the end of the coupling bracket 260, So that the triangular raised portion of the supporter 230 is positioned on the outer side of the outer ring 222 and the lower triangular shape is located on the center side of the outer ring 222, The obstacle removing device 201 is switched to the partial maintenance device 202 by disposing the fine plate 250 on the outer side of the outer ring 222,
The fine plate 250 is closely adhered to the roughly coated mortar to perform a precise application operation together with the rotation of the outer ring 222. The tension between the centrifugal force of the fine plate 250 and the elastic force of the pressure device 270 To perform a partial maintenance work by applying mortar to the part where repair is required and to cause the mortar to penetrate and fill the part where the repair is required,
A part of the sewage unreachable robot part repairing method.

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